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Question 01 (20 marks) Derive the expression for the joint torque and joint force for the two-link RP (Revolute & Prismatic) planar manipulator shown

Question 01 (20 marks) Derive the expression for the joint torque and joint force for the two-link RP (Revolute & Prismatic) planar manipulator shown in Fig. 1. The two-link RP planar manipulator mechanism with concentrated masses are located at m1 and m2. Mz Fig. 1: A two-link RP planar manipulator mechanism with concentrated masses.

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