A robot gripper shown in part (a) of Figure P4.17, is to be controlled so that it closes to an angle θ by using a DC motor control system, as shown in part (b). The model of the control system is shown in part (c), where Km = 30, Rf = 1Ω, Kf = K1 = l, J = 0.1, and b = 1.
(a) Determine the response θ(t) of the system to a step change in θd(t) when K = 20.
(b) Assuming θd(t) = 0, find the effect of a load disturbance Td(s) = A/s.
(c) Determine the steady-state error ess when the input is r(t) = t, t > 0. (Assume that Td(s) = 0.)
Figure P4.17
Robot gripper control.

Transcribed Image Text:

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