Consider the following statements: Good dynamic performance is usually difficult to achieve in robots which contain a rotary base because 1. Position, speed and acceleration of the other joints cause variations in the reflected torque and moment of inertia 2. The moment of inertia reflected at the base depends upon the weight of the object being carried 3. The moment of inertia reflected at the base also depends upon the distance between the base axis and the manipulated object
Which of the above statements is/are correct?
(a) 1, 2 and 3 (b) 2 and 3 only
(c) 1 only (d) 1 and 3 only