Micah Digman Thanks for really quick and detail reply.
Yes, I will keep in my mind about case when I need to accelerate the load and braking.
Just to further explain my intension for this work is to design a light weight robotic arm.
Target specifications are as following:
Total weight 10 kg,
DOF: 6 (3 shoulder+1 Elbow+2 wrist)
Payload 2 kg
Working range: 700 mm
I need to calculate joint torque to select actuators (Your explanation is help for me to start getting rough idea)
About simulating robotic arm, I want to estimate what peak torques values are requires to perform some tasks for instance worst case stretch arm and accelerate a payload of 2kg with 2 m/s^2.
Best regards
Bilal