Question: A robotic manipulator together with a cascade PI controller has a transfer function (Low, 2005) Assume the robots joint will be controlled in the configuration

A robotic manipulator together with a cascade PI controller has a transfer function (Low, 2005)

K1 G(s) = (Kp 48, 500 %3D s2 + 2.89s

Assume the robot’s joint will be controlled in the configuration shown in Figure P8.3.


a. Find the value of KI that will result in ess = 2% for a parabolic input.

b. Using the value of KI found in Part a, plot the root locus of the system as a function of KP.

c. Find the value of KP that will result in a real pole at -1. Find the location of the other two poles.

K1 G(s) = (Kp 48, 500 %3D s2 + 2.89s

Step by Step Solution

★★★★★

3.40 Rating (159 Votes )

There are 3 Steps involved in it

1 Expert Approved Answer
Step: 1 Unlock blur-text-image
Question Has Been Solved by an Expert!

Get step-by-step solutions from verified subject matter experts

Step: 2 Unlock
Step: 3 Unlock

Students Have Also Explored These Related Control Systems Engineering Questions!

Q:

Plot the root locus for the system Find the range of K for stability. z+ 0.45

Q:

If z = 3 j5, find the value of in (z).

Q:

Use Table 3 to find the value of t0 0025 when df = . (Do not attempt to interpolate in Table 4.)

Q:

In Figure P7.16, the plant, P(s) = 48,500/s 2 + 2.89s; represents the dynamics of a robotic manipulator joint. The systems output, C(s), is the joints angular position (Low, 2005). The system is...

Q:

Please answer below with elaborative justification from the attached cases below: What is similar and different about the two case companies? How important is the ProFusion platform to Adnexus?...

Q:

Modern robotic manipulators that act directly upon their target environments must be controlled so that impact forces as well as steady-state forces do not damage the targets. At the same time, the...

Q:

In the P - P - P robotic manipulator, the linear displacement variables 1 y ' 2 y ' and 3 z are not often assigned constant values because they correspond to the translational displacements of the...

Q:

A redundant robotic manipulator enhances its performance by adding to its dexterity. Based on the statement; h2 to via (i) What is a redundant manipulator? (ii) What is dexterity with regards to a...

Q:

PLI Fig. 1: The two-dimensional revolute manipulator of problem I Problem 1 Robotic manipulators are found throughout manufacturing and assembly plants. A simple robotic manipulator is a...

Q:

02 No Fig. 1: The two-dimensional revolute manipulator of problem 1 Problem 1 Robotic manipulators are found throughout manufacturing and assembly plants. A simple robotic manipulator is a...

Q:

You are asked to design a survey to estimate the total number of cars without permits that park in handicapped parking places on your campus. What variables (if any) would you consider for...

Q:

In searching for a record of the length and true bearing of a certain boundary line which is straight between A and B, the following notes of an old random traverse were found (survey by compass and...

Q:

. Explain the purpose of an income statement. To tell whether or not a business made money or lost money in a given time period To list all the income accounts and their balances To tell how much...

Q:

Why would Mark Rockefeller and Mickey Konson of StreetShares agree to a transaction that included a 3 liquidation preference, an ongoing quarterly management fee, a put in six years priced at the...

Q:

A 25.00-mL sample containing Fe3 [1] and Cu 2+ required 16.06 mL of 0.050 83 M EDTA for complete titration. A 50.00-mL sample of the unknown was treated with NH4F to protect the Fe 3+ . Then Cu 2+...

Q:

Calculate pCu 2+ (to the 0.01 decimal place) at each of the following points in the titration of 50.0 mL of 0.040 0 M EDTA with 0.080 0 M Cu(NO 3 ) 2 at pH 5.00: 0.1, 5.0, 10.0, 15.0, 20.0, 24.0,...

Q:

Calculate the concentration of H 2 Y 2- at the equivalence point in Exercise 11-C. Exercise 11-C Calculate pCu 2+ (to the 0.01 decimal place) at each of the following points in the titration of 50.0...

Q:

Find the indicated probability. Round to three decimal places. 27) A test consists of 10 true/false questions. To pass the test a student must answer at least 9 questions correctly. If a student...

Q:

Brooks Company leases a machine from TCS Company on 1 / 1 / 2 3 . Given: wet ered 5 out of g question Asset FMV $ 1 0 0 , 0 0 0 Asset Book Value $ 8 5 , 0 0 0 January 1 payments $ 2 0 , 7 1 1...

Q:

Upton Computers makes bulk purchases of small computers, stocks them in conveniently located warehouses, ships them to its chain of retail stores, and has a staff to advise customers and help them...