Welding Control: Large welding robots are used in today's auto plants. The welding head is moved to different positions on the auto body, and rapid, accurate response is required. A block diagram of a welding head positioning system is shown in the following diagram.

It is desired to determine the range of \(K\) and a for which the system is stable. The characteristic equation is
\[1+G(s)=1+\frac{K(s+a)}{s(s+1)(s+2)(s+3)}=0\]

Transcribed Image Text:

Controller R(s) K(s+a) Head dynamics 1 Y(s) (s+1) s(s+2)(s+3) Desired position Data head position Welding Robot Control System