How to Find Motion Equations for Robotics Tutorial with Given Variables?

[contactor2003]

P = [M1,M2,M3,M4]T , find ψ(q,q. ,v,a) such that ψ(q,q. ,v,a)P = τ
Where v = [v1 v2] T , a = [a1 a2] T , q = [q1 q2] T, q. = [q.1 q.2] T

 

[contactor2003]

anyone can help to solve?

 

[contactor2003]

sorry the problem is like this:


For the following motion equations become
|M1+2M2C2 2/3M2 + M2C2 | |-M2 s2 q.2 -M2 s2 (q.1 + q.2)| |M3 c1+ M4 c12+ 2M4 c1|
|2/3M2 +M2C2 2/3M2 |a + |-M2 s2 q.2 0 | v +| M4 c12 | =τ

P = [M1,M2,M3,M4]T , find ψ(q,q. ,v,a) such that ψ(q,q. ,v,a)P = τ
Where v = [v1 v2] T , a = [a1 a2] T , q = [q1 q2] T, q. = [q.1 q.2] T


note: first paragraph is matrix form