Robot Joint Actuator Torque-Speed Envelope (2D)

A 2D robot-arm joint driven toward a commanded target angle, where every instant's required torque is computed from real joint dynamics (τ = I·α + b·ω) and then saturated to whatever the actuator's torque-speed envelope — set by an adjustable stall torque and no-load speed — can actually deliver. Watch the live torque-speed scatter hug the envelope boundary whenever the commanded motion outruns the actuator, and run the load-inertia sweep to verify numerically that heavier loads spend more time constrained.