Question: A robot is programmed to have a tool or welding torch follow a prescribed path [7, 11]. Consider a robot tool that is to follow

A robot is programmed to have a tool or welding torch follow a prescribed path [7, 11]. Consider a robot tool that is to follow a sawtooth path, as shown in Figure P5.6(a). The transfer function of the plant is

for the closed-loop system shown in Figure 5.6(b). Calculate the steady-state error.

A robot is programmed to have a tool or welding

75(s 1) 10 2030 40 Time (s) rajcetory FIGURE P5.6 Robot path control.

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