(40%) Consider the following PR manipulator. The masses and moments of inertia Nout the center of mass of the links are m.. Lo. m, and La The friction coefficient at the prismatic joint is c1, while the revolute joint frietion is ignorable. The force/torque produced by the actuators at the joints are u, and ua- Find the kinetic energy, potential energy, the Lagrangian, and derive the dynamic equation of motion for this robot. y d Pc2 da 92 Pci

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