function param = open_link_2DOF_definition ()
% definition of 2DOF open link mechanism
% assume cylindrical solid links
    density = 1;
    len = 2.00; len_grav = 1.00; radius = 0.05;
    m = density * len * (pi*(radius)^2);
    Jc = (1/12) * m * (3*radius^2 + len^2);
    J = Jc + m * (len/2 - len_grav)^2;
    
    param1 = struct('length', len, 'length_grav', len_grav, ...
        'mass', m, 'inertia', J, 'base', [0;0]);
    param2 = struct('length', len, 'length_grav', len_grav, ...
        'mass', m, 'inertia', J, 'base', []);
    
    param = [param1; param2];
end
