A robot uses feedback to control the orientation of each joint axis. The load effect varies due
Question:
(a) What is the effect of Td(s) on Y(s)?
(b) Determine the sensitivity of the closed loop to k2.
(c) What is the steady-state error when R(s) = l/s and Td(s) = 0?
Figure P4.7
Robot control system.
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