P4.7 A robot uses feedback to control the orientation of each joint axis. The load effect varies due to varying load objects and the extended position of the arm. The system will be deflected by the load carried in the gripper. Thus, the system may be represented by Figure P4.7 O, where the load torque is Ta (s) = D/s. Assume R(s) = 0 at the index position. (a) What is the effect of Ta(s) on Y(s)? (b) Determine the sensitivity of the closed loop to k2. (c) What is the steady-state error when R(s) = 1/s and T«(s) = 0? Load disturbance Ta(s) Controller R(s) Y(s) Desired k2 Actual k1 joint angle joint angle s(TS + 1) k3 + k4s Figure P4.7 Robot control system.

P4.7 A robot uses feedback to control the orientation of each joint axis. The load effect varies due to varying load objects and the extended position of the arm. The system will be deflected by the load carried in the gripper. Thus, the system may be represented by Figure P4.7 O, where the load torque is Ta (s) = D/s. Assume R(s) = 0 at the index position. (a) What is the effect of Ta(s) on Y(s)? (b) Determine the sensitivity of the closed loop to k2. (c) What is the steady-state error when R(s) = 1/s and T«(s) = 0? Load disturbance Ta(s) Controller R(s) Y(s) Desired k2 Actual k1 joint angle joint angle s(TS + 1) k3 + k4s Figure P4.7 Robot control system.

Elements Of Electromagnetics

7th Edition

ISBN:9780190698614

Author:Sadiku, Matthew N. O.

Publisher:Sadiku, Matthew N. O.

ChapterMA: Math Assessment

Section: Chapter Questions

Problem 1.1MA

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