Dynamic simulation equation in Python code

Course Support Robot Control Basics
1

I an trying to understand how the dynamic simulation equation has been derived in the code:

ddq=np.linalg.inv(D+JM)@(input-C@dq-BM@q-g)

I compared this equation with the one given in the book “Robot Modeling and Control” (chapter 7.3, Set-Point Tracking).

However two equations are not the same.

Could you please explain how the equation in the Python code has been derived?

Thank you!

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