A five-axis robot needs to perform a two-stage movement. In the first stage, the first joint...

 

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A five-axis robot needs to perform a two-stage movement. In the first stage, the first joint needs to go from initial angle of 10° to a final angle of 75° in 5 seconds. In the second stage, the first joint needs to go from 75° to 120° in 3 seconds. The robot is at rest while start the whole process. The angular speed needs to be 1/6 rad/s when pass 75°. It will be fully stopped at 105°. In this problem, the angular position is defined as 0 (t), and the angular velocity is defined as 0 (t). The units used in this problem are radian and rad/s. Problem la) Based on the description, what is the initial condition of the first stage? The units used in this question are radian and rad/s. (A) 0(0) = 0.175rad ė (0) = Orad/s 10rad 0(0) (B) (C) (D) (E) ė (0) = Orad/s 1.31rad (B) (C) (D) (E) 0(0) (0) = 0.261rad/s 0(0) = 0.175rad è (0) = 0.3rad/s 10rad 0 (0) ė (0) = 0.3rad/s Problem 1b) What is the angular position and angular velocity when t= 5 s? (A) 0(5)= 1.31rad ė (5) = Orad/s 0(5)1.31rad è (5) = 1.31rad/s 0(5) 1.31rad = 0 (5) = 0.524rad/s (5)= 75rad (5) = Orad/s 0(5)= 75rad ė(5)= 0.524rad/s Problem 1c) Find the corresponding third-order polynomials for stage 1 (0<t<5) (A) 8(t) = 10 +8.94t² - 1.188t³ (B) 8(t) = 10 +3t² (C) 0(t)= 10 +8.895t² - 1.1791t³ (D) 8(t) = 0.175 +0.0314t2 +0.00281³ Problem 1d) Find the corresponding third-order polynomials for stage 2 (5<t<8). (A) 8(t)=-463.9 +213.33t-26.67t² + 1.11t³ (B) 0(t)= -8.096 +3.723t-0.4654t² +0.0194t³_ (C) 8(t) = 1.309 +0.5236t - 0.1745+² +0.0194³ (D) 8(t) 75+ 30t - 10t² + 1.11t³ (E) None of the options A five-axis robot needs to perform a two-stage movement. In the first stage, the first joint needs to go from initial angle of 10° to a final angle of 75° in 5 seconds. In the second stage, the first joint needs to go from 75° to 120° in 3 seconds. The robot is at rest while start the whole process. The angular speed needs to be 1/6 rad/s when pass 75°. It will be fully stopped at 105°. In this problem, the angular position is defined as 0 (t), and the angular velocity is defined as 0 (t). The units used in this problem are radian and rad/s. Problem la) Based on the description, what is the initial condition of the first stage? The units used in this question are radian and rad/s. (A) 0(0) = 0.175rad ė (0) = Orad/s 10rad 0(0) (B) (C) (D) (E) ė (0) = Orad/s 1.31rad (B) (C) (D) (E) 0(0) (0) = 0.261rad/s 0(0) = 0.175rad è (0) = 0.3rad/s 10rad 0 (0) ė (0) = 0.3rad/s Problem 1b) What is the angular position and angular velocity when t= 5 s? (A) 0(5)= 1.31rad ė (5) = Orad/s 0(5)1.31rad è (5) = 1.31rad/s 0(5) 1.31rad = 0 (5) = 0.524rad/s (5)= 75rad (5) = Orad/s 0(5)= 75rad ė(5)= 0.524rad/s Problem 1c) Find the corresponding third-order polynomials for stage 1 (0<t<5) (A) 8(t) = 10 +8.94t² - 1.188t³ (B) 8(t) = 10 +3t² (C) 0(t)= 10 +8.895t² - 1.1791t³ (D) 8(t) = 0.175 +0.0314t2 +0.00281³ Problem 1d) Find the corresponding third-order polynomials for stage 2 (5<t<8). (A) 8(t)=-463.9 +213.33t-26.67t² + 1.11t³ (B) 0(t)= -8.096 +3.723t-0.4654t² +0.0194t³_ (C) 8(t) = 1.309 +0.5236t - 0.1745+² +0.0194³ (D) 8(t) 75+ 30t - 10t² + 1.11t³ (E) None of the options

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Problem 1a Based on the description the initial condition for the first stage is Initial position 10 ... View the full answer