Problem: Develop a comprehensive Simulink/SimMechanics model for a ...

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Problem: Develop a comprehensive Simulink/SimMechanics model for a two link robot that uses the following: The robot equation The motor model The PID controller + (R M(q) + = u = Kpe + K¡ t edt + K, d Proportional Integral Differential Term Term Term You can use the metrics from HW #4 or Test 2, but are not limited to it. Provide the following plots: 1. Trajectory of the end-effector in cartesian co-ordinates (vertical trajectory) 2. Joint angles, velocities, accelerations and torques 3. Error plots for joint angles, showing stabilization at zero error after PID controller is switched on

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