(Solved): A two-link planar robot has a configuration as shown in Figure Q1 which is in ...

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A two-link planar robot has a configuration as shown in Figure Q1 which is influenced by factor of gravity with a value of $$9.81\mathrm{m}/{\mathrm{s}}^2$$. If the weights of each link are $$m_1$$ and $$m_2$$, the lengths of each link are $$l_1$$ and $$l_2$$, obtain the relationship between the torques of each joint $$\left({?}_1,{?}_2\right)$$ with joint positions $$\left({?}_1,{?}_2\right)$$, velocities $$\left(\stackrel{?}{{?}_1},\stackrel{?}{{?}_2}\right)$$ and accelerations $$\left({\ddot{?}}_1,{\ddot{?}}_2\right)$$ respectively. Use point-mass assumption. Figure Q1 [25 marks]