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Theory Manual Version 3.6
 Subsubsection 7.9.5.1: Prescribed Force at Joint Up Subsection 7.9.5: Prescribed Joint Forces and Moments Subsection 7.9.6: Prescribed Joint Motion 

7.9.5.2 Prescribed Moment at Joint

When a joint has a rotational degree of freedom along , there may be a need to prescribe the moment along that direction. This means that the reaction moment may be supplemented with the moment , and the linearization produces Thus, and
 Subsubsection 7.9.5.1: Prescribed Force at Joint Up Subsection 7.9.5: Prescribed Joint Forces and Moments Subsection 7.9.6: Prescribed Joint Motion