Reverse kinematic model It is now relatively easy to use this model to calculate the wheel velocities for a required global velocity: [+] 0 |= R(0)₁ ¿₁=R(0)-1 0 Υφι 142 Υφι r42 only solve 21 21 21 21 For a differential drive robot with: 0 = r = 1 l = 1 and wheel angular velocities of: ¢₁ = 4 42=2 what is the robot's global velocity? Exercise For a differential drive robot with: 0 = 90° r = 2 what wheel angular velocities are required to give a global velocity of: Vx = 0, V₁ = 3 ė = 1 Reverse kinematic model It is now relatively easy to use this model to calculate the wheel velocities for a required global velocity: [+] 0 |= R(0)₁ ¿₁=R(0)-1 0 Υφι 142 Υφι r42 only solve 21 21 21 21 For a differential drive robot with: 0 = r = 1 l = 1 and wheel angular velocities of: ¢₁ = 4 42=2 what is the robot's global velocity? Exercise For a differential drive robot with: 0 = 90° r = 2 what wheel angular velocities are required to give a global velocity of: Vx = 0, V₁ = 3 ė = 1

6. A wheel of 40 cm radius rotates in a stationary axle. It is uniformly speeded up from rest to a speed of 900 rpm in a time of 20 sec. Find the tangential acceleration of a point on its rim. (1 Point)

1. For the motor load, torque -speed curve shown below, solve the following questions. R 2. T (N-m) 10 J₁ 10V 100 N₂ D₂ { N₁ D₁ w (rad/s) J₂ OL(t) of N₁ = 100 N₂ = 1000 J₁ = 1 kg.m² J2 = 100 kg.m² D₁ = 1 N.m.s/rad D2 = 100 N·m-s/rad Back emf: vo(s)=Kb₁(s) d01 where ₁(s)= dt Torque developed by the motor: T₁=Kt la(s) 1) Find a relationship between the current (Ia(s)), voltage (Vš(s)), and the back emf (Vú(s)) (the equation for the dashed-box part) 2) Find the no-load speed (no torque is applied) from the torque-speed curve. 3) Find the stall torque (rotor is not turning) from the torque-speed curve. 4) Find the total inertia at the armature of the motor. 5) Find the total damping at the armature of the motor. 6) Find the coefficient of the transfer function ₁/Vs(s) = z/(s+p). Round your z and p to the nearest one(e.g., 2.2 ≈ 2, 1.1 ≈ 1, 0.5 ≈ 1) Angular Velocity of sys 1(₁) Voltage(V) (The question wants to see transfer function, 7) Find the poles and zeros from the transfer function…

The OC curve of a d.c. shunt generator for a speed of 1000 r.p.m. is given by the following table. Field current : 2.0 3.0 4.0 5.0 6.0 7.0 E.M.F. volts : 102 150 188 215 232 245 The shunt has a resistance of 37 Ω. Find the speed at which excitation may be expected to build up. The aramture resistance of 0.04 Ω. Neglecting the effects of brush drop and armature reaction, estimate the p.d. when the speed is 1000 r.p.m. and the armature delivers a current of 100 A.