PROJECT 2 For a two degree of freedom robot below that operates in a XY plane and in a vertical gravity field following is given: a) L1=L2=1m, b) links are massless,

c) Ma = 1 kg is a point mass. Find the following. • Find the differential equations of motion of this robot. With this, you will obtain a system of two second order nonlinear equations. Inputs to your system are two torques that are acting on each joint. You may also assume that both joints have viscous damping. • Using a PID controller, form a closed loop configuration for each of the joints. • Implement such a controlled robot in Simulink. • Tune the PID controller so that each robot's joint has an aperiodic response for a step input. • Plot all of your results.