A 3 DOF arm is shown below. Assume that the moment of inertia of the first linkabout its rotational axis is 0.5kgm2. The mass 2kg of the second link isconcentrated at point D and the mass 1kg of the third link is concentrated pointB. AB=2m. Assume that at the given configuration the joint variable of the thirdjoint of the arm is equal to zero.(1) Derive the dynamic equation of the robot;(2) give the centrifugal, Coriolis and gravitational forces; and (3) write thedynamics in a linear form of the physical parameters.
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