Question: The RP type robot is given in Figure below (Joint variables 1- d2). Obtain the dynamics model of the robot using Euler-Lagrange formulation in robotics.

The RP type robot is given in Figure below (Joint variables 1- d2). Obtain the dynamics model of the robot using Euler-Lagrange formulation in robotics. (m1= 1.200 kg, m2= 0.700 kg, l1= 0.30 m, Izz1= 0.15 kgm2, Izz2= 0.012 kgm2, g=9.81 m/s2)

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