A three axis pick and place application requires the precise movement of a robotic arm in threedimensional space, as shown in Figure AP10 1 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 Gc1s2 K, and determine the gain K that satisfies the requirement Determine the resulting settling time (with a 2 criterion) (b) Use a phase lead compensator and reduce the settling time to Ts 3 s FIGURE AP10 1 Pick and place robot Motor 4 Motor 2 Motor 3 Motor 1 1 R(s) Ge(s) Y(s) s(s 1)(s 4) (b)

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A three axis pick and place application requires the precise movement of a robotic arm in threedimensional space, as shown in Figure AP10 1 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 Gc1s2   K, and determine the gain K that satisfies the requirement  Determine the resulting settling time (with a 2  criterion)  (b) Use a phase lead compensator and reduce the settling time to Ts  3 s  FIGURE AP10 1 Pick and place robot  Motor 4 Motor 2 Motor 3 Motor 1 1 R(s) Ge(s) Y(s) s(s 1)(s 4) (b)

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Question: A three-axis pick-and-place application requires the precise movement of a robotic arm in threedimensional space, as shown in Figure AP10.1 for joint 2. The arm

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