Question: Consider the PR robot as follows. The coordinate frames are defined as shown. For link 1, its mass is m. For link 2, its

Consider the PR robot as follows. The coordinate frames are defined as shown. For link 1, its mass is m. For link 2, its mass is m and the coordinate of its mass center in Frame 2 is p = [-L2, 0, 0] T. The inertia tensor of link 2 with respect to Frame 2 is 12. Find the dynamics of the robot. y2 c2 91 L zo y1 X2 42 X1

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