Could you mathematically explain static forces on 3 DOF Planar Redundant Robotic Manipulator?(torque) If this manipulator picks up a 10kg object, calculate its torque. With the end effector fixed,...

Could you mathematically explain static forces on 3 DOF Planar Redundant Robotic Manipulator?(torque)

If this manipulator picks up a 10kg object, calculate its torque.

With the end effector fixed, will the joint torques change? If so, how will the engine selection be affected?

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