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If the indicated robotic arm manipulator uses an armature-controlled DC servomotor that drives a load consisting of the moment of inertia (JL) which is presented in figure (2)

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If the indicated robotic arm manipulator uses an armature-controlled DC servomotor that drives a load consisting of the moment of inertia (JL) which is presented in figure (2). The torque developed by the motor is (T), while the moment of inertia of the motor rotor is (Jm); whereas the angular displacements of the motor rotor and the load element are (?_m) and (?), respectively. The gear ratio is n = ?/?_m