2- Assume a stiffness control for a single degree of freedom asfollows.EnvironmentAssume manipulator is incontact with environmentwhose position is tDerive the control law to make Xa= XeWhere:Xe: the actual position.X: the instantons position.Xa: the desired position.fe: the force acting on environment.f: the input force.

Xe: The actual position : The instantons position Xd: the desired position fe: The force acting on…

2- Assume a stiffness control for a single degree of freedom as follows. Environment Assume manipulator is in contact with environment whose position is x. Derive the control law to make Xa= Xe Where: Xe: the actual position. X: the instantons position. Xa: the desired position. fe: the force acting on environment. f: the input force.

2- Assume a stiffness control for a single degree of freedom as follows. Environment Assume manipulator is in contact with environment whose position is x. Derive the control law to make Xa= Xe Where: Xe: the actual position. X: the instantons position. Xa: the desired position. fe: the force acting on environment. f: the input force.

Electric Motor Control

10th Edition

ISBN:9781133702818

Author:Herman

Publisher:Herman

Chapter40: Push-button Synchronizing

Section: Chapter Questions

Problem 5SQ

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