Question: A two link manipulator with revolute joints are shown in figure below. All the joints are rotating along z - axis. It is assume that

A two link manipulator with revolute joints are shown in figure below. All the joints are rotating along z-axis. It is assume that joint variable =12, mass of link =m1,m2, link paramters =1,2=0,d1,d2=0 and a1,a2=l. Find the U11 using the concept of Lagrange Euler formulation. Standard notations are applied.
A two link manipulator with revolute joints are

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