2. [15pt] Consider a constant speed control with the desired trajectory specified by ed = [t, 0];...

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2. [15pt] Consider a constant speed control with the desired trajectory specified by ed = [t, 0]; ed = [1,0], and 0a = 0. Assume that the center of mass for each link (considered as a point mass) is l

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2. [15pt] Consider a constant speed control with the desired trajectory specified by ed = [t, 0];...

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