Question: Extenders are robot manipulators that extend (that is, increase) the strength of the human arm in load-maneuvering tasks (Figure P3.31) [19, 22]. The system is

Extenders are robot manipulators that extend (that is, increase) the strength of the human arm in load-maneuvering tasks (Figure P3.31) [19, 22]. The system is represented by the transfer function

where U(s) is the force of the human hand applied to the robot manipulator, and Y(s) is the force of the robot manipulator applied to the load. Determine a state variable model and the state transition matrix for the system.

Extenders are robot manipulators that extend (that is, increase) the

30 U(s) 3 Extender Lille! Gripper FIGURE P3.31 Extender for increasing the strength of the human arm in load maneuvering tasks.

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