a. A certain two-link manipulator has the following Jacobian:
^(0)J(Theta )=[[-l_(1)s_(1)-l_(2)s_(12),-l_(2)s_(12)],[l_(1)c_(1)+l_(2)c_(12),l_(2)c_(12)]]
Ignoring gravity, what are the joint torques required in order that the manipulator will apply a static force vector ^(0)F=10hat(x)_(0) ?
b. If the two link manipulator in problem a has link lengths l_(1)=l_(2)=0.5m and joint angles heta_(1)=30deg and heta_(2)=60deg, what would be the joint torques au_(1) and au_(1)?