A three-axis pick-and-place application requires the precise movement of a robotic arm in three dimensional space, as shown APlO.l for joint
2. The arm has specific linear paths it must follow to avoid other pieces of machinery. The overshoot for a step input should be less than 13%.
(a) Let Gc (s) = K, and determine the gain K that satisfies the requirement. Determine the resulting settling time (with a 2% criterion),
(b) Use a lead network and reduce the settling time to less than 3 seconds.