Obtain the dynamic equations of the RR manipulator in the figure using the Lagrangian method. write in standard form.(by using formulas in photo)(do not copy the answer from another answered question) Example: Use Lagrangian dynamics to determine the equation of motion for the shownRR manipulator. Each link has length /, and total mass m;.(X2,y2 RR ManipulatorI, w?V,hiM,WihzM2V2V,(9)= MiVz Cq) =MegheTraas ferV2 = v.W, = W, t91Cosx) =u = M(q)q+ġ*r(q)ġ +g(q).r,(4) =aq

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Example: Use Lagrangian dynamics to determine the equation of motion for the shown RR manipulator. Each link has length /, and total mass m;. (X2,y2