A direct drive has to provide a speed time curve such as in figure against, a constant load torque of T = 10Nm, for a motor load inertia J = 0.02 kgm. What is the torque profile (torque needed to be produced) [rad/s] 376.8 ta ta 0 1.2 2.4 3.6 4.8 6.0 Required speed / time profile The motion equation for a direct drive is: T(t) = J.,(t) + T, (t) t[s]