Consider the following system of equations of a single link robotic manipulator with a flexible jointI6, (t) + mgl sin 01 (t) + k(0, (t) – O2(t)) = 0JÖ, (t) – k(01 (t) – 62 (t)) = u(t)where 0, (t), 02 (t) are the angular positions, I, J are moments of inertia, m, l, k are link mass, length and spring constant respectively. Introduce the changeof variables as r1(t) = 01 (t), x2(t) = 01(t), x3(t) = 02 (t), x4(t) = 02(t) Find the linearised state space model of the system with equilibrium conditions[x; x; x; x" . Take the values of k = 0.5 N/m; g= 9.8m/s²; m=0.5 kg; l = 0.5 m; I = 1 kg. m²; J = 0.5 kg. m².13) The matrix D is given byD=[1 1 0 1]D=[0 1 1 0]D=[0 0 1 1]D= [0 0 0 0]

Answered: Consider the following system of…

Introductory Circuit Analysis (13th Edition)

13th Edition

ISBN:9780133923605

Author:Robert L. Boylestad

Publisher:Robert L. Boylestad

Chapter1: Introduction

Section: Chapter Questions

Problem 1P: Visit your local library (at school or home) and describe the extent to which it provides literature...

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