Q4: Robots can be used in manufacturing and assembly operations that require accurate, fast, and versatile manipulation. The open-loop transfer function of a direct-drive arm may be approximated by K(s + 10) s(s + 3)(s² + 4s + 8) G(s)H(s) = a) Determine the value of gain K when the system oscillates, b) Calculate the roots of the closed-loop system for the K determined in part (a).

Linear Feedback Systems

3 A. We have a 4-bit DAC with Vref = 3.3V and an input voltage of Vs = 2.05V. Draw a diagram illustrating the conversion process of a successive approximation ADC. Label the x-axis conversion step and the y-axis Digital Number(DN). What digital number (DN) will be returned by the DAC within the SAR ADC? 3 B. You have purchased an 8-bit R-2R digital to analog converter to control the joint position on a robot arm (which is proportional to the input voltage). a). The DAC shows an output voltage of 0.49 V when the binary value 00011001 is applied. What is the full-scale analog output range of this DAC in volts? b). What voltage does the DAC output with a binary value of 10101010 applied? c). If the joint rotates 10.0 degrees/V applied, what is the minimum joint rotation increment you can achieve with this DAC?