Question: A robot will be operated by NASA to build a permanent lunar station. The position control system for the gripper tool is shown in Figure

A robot will be operated by NASA to build a permanent lunar station. The position control system for the gripper tool is shown in Figure 10.1(a), where //(5) = I, and

Determine a compensator lag network Gc(s) that will provide a phase margin of 45°.

G(s) - s(s 1)0.25s 1)

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The Bode plot with the lag network is shown in Figure E101... View full answer

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