Question: A robot has been designed to aid in hip-replacement surgery. The device, called RoBoDoc, is used to precisely orient and mill the femoral cavity for

A robot has been designed to aid in hip-replacement surgery. The device, called RoBoDoc, is used to precisely orient and mill the femoral cavity for acceptance of the prosthetic hip implant. Clearly, we want a very robust surgical tool control, because there is no opportunity to redrill a bone [21,27].The control system will be as shown with

where 1 ‰¤ a ‰¤ 2, and 4 ‰¤ b ‰¤ 12.
Select a PID controller so that the system is very robust. Use the s-plane root locus method. Select the appropriate Gp(s) and plot the response to a step input.

s2 + as b'

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The PID controller is The bounds 1 a 2 and 4 b 12 imply that 2 n 34... View full answer

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