Given a 2-DOF RP (Revolute-prismatic) robot with the link frames as in the Fig. 3. The...

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Given a 2-DOF RP (Revolute-prismatic) robot with the link frames as in the Fig. 3. The mass of the link 1 and link 2 are m = 2 kg and m2 = 1 kg; and the inertia tensors are given as 1xx1 0 0 1xx2 0 0 Cl1 = 0 Iyy1 0 C2121 0 0 Izz1 0 Lyy2 0 00 Izz2 Ixx1 = Iyy1 = Izz! = 1 kgm; Ixx2 = Iyy2 = Izz2 = 0.5 kgm; and the gravity constant is g = 9.81 m/s, l = 0.1m and d3 = 0.1m Yo EF m2 X d Given a 2-DOF RP (Revolute-prismatic) robot with the link frames as in the Fig. 3. The mass of the link 1 and link 2 are m = 2 kg and m2 = 1 kg; and the inertia tensors are given as 1xx1 0 0 1xx2 0 0 Cl1 = 0 Iyy1 0 C2121 0 0 Izz1 0 Lyy2 0 00 Izz2 Ixx1 = Iyy1 = Izz! = 1 kgm; Ixx2 = Iyy2 = Izz2 = 0.5 kgm; and the gravity constant is g = 9.81 m/s, l = 0.1m and d3 = 0.1m Yo EF m2 X d