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SOLVED: (15 points) 2 DOFs robot has approximaled dynamic model (hc following system diflerential equations Apply the control law partitioning method, i.e. find the model based portion and the servo portion of
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SOLVED: The system of equations of motion of a revolute-revolute (RR) manipulator is given as: [4+0 [+02] 01 (01 + 20,02 [1+02 02 520 If joint 1 is controlled with a PD
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