AP10.1 A three-axis pick-and-place application requires the precise movement of a robotic arm in three- dimensional 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 than 13%. (a) Let Ge(s) K, and determine the gain K that sat- isfies the requirement. Determine the resulting settling time (with a 2% criterion). (b) Use a lead network and reduce the settling time to less than 3 seconds. FIGURE AP10.1 Pick-and-place robot. Motor 4 Motor 1 R(s). Ge(s)
AP10.1 A three-axis pick-and-place application requires the precise movement of a robotic arm in three- dimensional 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 than 13%. (a) Let Ge(s) K, and determine the gain K that sat- isfies the requirement. Determine the resulting settling time (with a 2% criterion). (b) Use a lead network and reduce the settling time to less than 3 seconds. FIGURE AP10.1 Pick-and-place robot. Motor 4 Motor 1 R(s). Ge(s)
Understanding Motor Controls
4th Edition
ISBN:9781337798686
Author:Stephen L. Herman
Publisher:Stephen L. Herman
Chapter54: The Operational Amplifier
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Can you also please do the simulate the step response in MATLAB for the design and report achieved PO and settling time? Thank you.
![AP10.1 A three-axis pick-and-place application requires
the precise movement of a robotic arm in three-
dimensional 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 ould less than 13%.
(a) Let Ge(s) = K, and determine the gain K that sat-
isfies the requirement. Determine the resulting settling
time (with a 2% criterion). (b) Use a lead network and
reduce the settling time to less than 3 seconds.
FIGURE AP10.1
Pick-and-place
robot.
Motor 4
Motor 1
R(s).
Ge(s)
(a)
(b)
Motor 2
Motor 3
1
s(s + 1)(s + 4)
Y(s)](/v2/_next/image?url=https%3A%2F%2Fcontent.bartleby.com%2Fqna-images%2Fquestion%2F3a1a8c69-ac20-486b-9f67-8f66504c5494%2F61714bfc-63d5-4c31-a0bf-61cb99c0ef49%2F8wwbszj_processed.jpeg&w=3840&q=75)
Transcribed Image Text:AP10.1 A three-axis pick-and-place application requires
the precise movement of a robotic arm in three-
dimensional 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 ould less than 13%.
(a) Let Ge(s) = K, and determine the gain K that sat-
isfies the requirement. Determine the resulting settling
time (with a 2% criterion). (b) Use a lead network and
reduce the settling time to less than 3 seconds.
FIGURE AP10.1
Pick-and-place
robot.
Motor 4
Motor 1
R(s).
Ge(s)
(a)
(b)
Motor 2
Motor 3
1
s(s + 1)(s + 4)
Y(s)
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