$1.$The RR type robot is given in the figure $($Variables Q$1-$Q$2).$ Denavit Hartenberg method

According to

a$.$ Place the coordinate system in each joint.

b$.$ Find the D$-$H variables.

c$.$ Find each adjacent transformation matrix.

d$.$ Obtain the forward kinematics between the main frame and the end$-$function.

NOTE: Determine the positive directions according to the LEFT HAND RULE.

$2.$Find the dynamic equations of the given robot using the Euler$-$Lagrange

Obtain using the approximation.

Variables Q$1-$ Q$2,$ m$1=10$ kg$,$ m$2=5$ kg$,$ L$1=0\mathrm{.}60$ m$,$ L$2=0\mathrm{.}40$ m$,$ g$=9\mathrm{.}81$ m$/$s

The center of mass of each limb is at the center of the respective limb$.$

Inertia tensors of the first and second limb:

$3.$ Force$/$torque required for to stand still at Q$1=30\backslash$deg and Q$2=60\backslash$deg

Calculate the values.

Please write the $2$nd and $3$rd question