Generate free body diagram for the following mechanism:

Consider the two-link arm above that operates in the 2D plane defined by this page. Assuming: • the origin of the global frame is at the arm's anchor point with the table (thicker blue rectangle), with y-axis upwards and x-axis pointing to the right, • the arm has one motor in each joint (indexed by theta one and two as shown), the joint angles have zero angles for their respective theta when the arm is straight upwards, • the joints have limits, o the first link cannot rotate through the table (max 6, = , min 0, =), o the second link cannot rotate through the first link (max 02 = TI, min 02 = -n), collisions are not allowed (the arm cannot poke into or through the table), the tasks all involve the end-effector, that is the orange/yellow ball at the end of the %3D %3D arm, and • each "link" in the arm has length one. Write the: a) state space, b) action space, c) forward kinematics function and, d) inverse kinematics function for this robot. For spaces, use vector notation. For the…

Consider the following spring system. Assume down is the positive direction. Write the stiffness matrix A 188 Displacement www my SE (₂ • Compute the displacements caused by the external forces f with spring constants e E

Please solve both a,b