5:47 PM Mon May 9 89% 1. (25%) A two-link planar robot with point masses at distal ends of links is shown in Figure 1. T

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5 47 Pm Mon May 9 89 1 25 A Two Link Planar Robot With Point Masses At Distal Ends Of Links Is Shown In Figure 1 T 1 (39.38 KiB) Viewed 66 times

5:47 PM Mon May 9 89% 1. (25%) A two-link planar robot with point masses at distal ends of links is shown in Figure 1. The joints of the robot are directly driven by motors from joint frames. The detail dynamic equations in the joint frame can be found in the lecture notes (Chapter 6 slides 63-64) or in the textbook Egn. (6.58). Figure 1: Two-link planar manipulator with point masses at distal ends of links. However, the planar robot can also be driven by motors from the based frame as shown in Figure 2) and 26). The link lengths are given as:/, andl., respectively. For simplicity, consider only point mass, mand i = 1.2, for each link, and the point mass at distal ends of links as well. In this case, the joint angle, and 0, for both joint are measured with respect to the base frame. a) Derive the dynamic equation using Lagrangian formulation for the given robot when the joint angle and 0, for both joint are measured with respect to the base frame b) By comparing with the dynamic equations of the robot in Figure I and Figure 2, find out the difference between them and explain which driven system is better based on their dynamic equation. .Gecelsace walanma das Schenute of the plane toolink pobet The side view of the plane toolink sobat Figure 2: A two DOF planar elbow manipulator.