. Consider the robot-joint control system of Fig. P5.3-13. This system is described in Problem 1.5-4....

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. Consider the robot-joint control system of Fig. P5.3-13. This system is described in Problem 1.5-4. (a) The sensor input is 0, in degrees and the output is in volts. If the robot joint movement is mechanically restricted to ±135°, find the range of the sensor output voltage. What should be the input voltage range for the A/D? (b) Let G,(s) be the transfer function of the servomotor and gears, and H₂ = 0.05 be the sensor gain. Find the system transfer function as a function of K, G,(s), and so on. (c) Evaluate the system transfer function for K = 1.4, T = 0.3 s, and D(z) = 1.1. T Controller - D(z) Volts Zero-order hold Power amplifier Servomotor Ea 200 s (0.5 s +1) Dat K Volts Sensor Problems 193 0.05 Gears 1 100 . Consider the robot-joint control system of Fig. P5.3-13. This system is described in Problem 1.5-4. (a) The sensor input is 0, in degrees and the output is in volts. If the robot joint movement is mechanically restricted to ±135°, find the range of the sensor output voltage. What should be the input voltage range for the A/D? (b) Let G,(s) be the transfer function of the servomotor and gears, and H₂ = 0.05 be the sensor gain. Find the system transfer function as a function of K, G,(s), and so on. (c) Evaluate the system transfer function for K = 1.4, T = 0.3 s, and D(z) = 1.1. T Controller - D(z) Volts Zero-order hold Power amplifier Servomotor Ea 200 s (0.5 s +1) Dat K Volts Sensor Problems 193 0.05 Gears 1 100