Richard II abdicate of his own free will?

Henry of Bolingbroke invaded England in 1399 and was crowned king in October of the same year.
Henry IV asserted that Richard II had abdicated of his own free will.
Did Richard II abdicate of his own free will?
 
Most certainly not.It hardly makes sense that abdicating because your rival has gathered an army and then imprisoned you would constitute an act of free will.
 
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