Question: Robots can be used in manufacturing and assembly operations that require accurate, fast, and versatile manipulation [10, 11]. The open-loop transfer function of a direct-drive

Robots can be used in manufacturing and assembly operations that require accurate, fast, and versatile manipulation [10, 11]. The open-loop transfer function of a direct-drive arm may be approximated by
G(s)H(s) = K(s + 10) / s(s + 3)(s2 + 4s + 8).
(a) Determine the value of gain K when the system oscillates.
(b) Calculate the roots of the closed-loop system for the K determined in part (a).

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a The closedloop characteristic equation is s 4 7s 3 20s 2 24 Ks 10K 0 The Routh array ... View full answer

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