Shown in Fig. P1.5-4 is the block diagram of one joint of a robot arm. This system is described in Section 1.5. The input M(s) is the controlling signal, Ea (s) is the servomotor input voltage,

Transcribed Image Text:

is the motor shaft angle, and the output is the angle of the arm. The inductance of the e(s) m(s) armature of the servomotor has been neglected such that the servomotor transfer function is second order. The servomotor transfer function includes the inertia of both the gears and the robot arm. Derive the transfer functions Power and (s)/M(s) e(s) / E (s). amplifier +60200 200 Servomotor 0.5 s +1 Fig. P1.5-4 Gears 100