Question: 4 . This problem has two independent parts. ( a ) Find the Jacobian associated with the following configuration. ( b ) Consider a two

4. This problem has two independent parts.
(a) Find the Jacobian associated with the following configuration.
(b) Consider a two links planar robotic manipulator with lengths L1 and L2. It is desired to have the end-effector linear velocities of 1m/s and 2m/s in x and y direction, respectively. What are the required joint velocities?
Please use the
4 . This problem has two independent parts. ( a )

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