How to understand "Total torque" acting on a revolute joint ?

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Hi, everyone.
I have trouble understanding the meaning of "Total torque".
In double pendulum (multi-body 2nd generation, Matlab) under gravity, when I tried to check the value of torque acting on the first revolute joint, there's 3 components.
I'd like to know the the torque around y axis as shown in this Figure... I think "tty" means the "τ" that I'd like to check... am I right ?

Answers (1)

Steve Miller
Steve Miller on 17 Nov 2021
The total torque acting at a joint includes contributions from actuation, constraint, and internal torques. For an explanation of those terms, look at this documentation page which explains them in detail.

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