1.11 The robot shown in Figure P 1.11 has the differential equations of motion given. Symbols m1...

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1.11 The robot shown in Figure P 1.11 has the differential equations of motion given. Symbols m1 ,~,11 ,12,£1 , and g are constant parameters, representing the characteristics of the rigid body links. Quantities 81 and d2 are the coordinate variables and are functions of time. The Pl.Jl inputs are 1:1 and 1:2 . Linearize the two equations about the operating point 81 = S1 = S1 = 0, d2 = 3, and d2 = d2 = 0.

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