Question: Q . 5 ) For a 2 - link serial planner robot with two rigid links with lengths a 1 at the base and length

Q.5) For a 2-link serial planner robot with two rigid links with lengths a1 at the base and
length a2 in series, with two revolute joints, and hence having 2DOFs, in the form of joint
angles 1 and 2. Define and derive the following with relevant diagrams.
marks
Q . 5 ) For a 2 - link serial planner robot with

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