# Initial model in Julia

""" Parameters """

# Inertia of arm
M1  = 95.1089;

# Viscous friction
Fv1 = 203.5034;

# Coulomb friction
Fc1 = 20.3935;

# Offset
OF1 = -3.1648;

# Direct dynamic model (DDM)


# Inverse dynamic model (IDM)
τ_idm =
