Consider the following system of equations of a single link robotic manipulator with a flexible joint16, (t) + mgl sin 0, (t) + k(61 (t) – 02 (t)) = 0JÖ, (t) – k(0, (t) – 02 (t)) = u(t)where 01 (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), 14(t) = Ô2(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/s?;m = 0.5 kg; l = 0.5 m; I = 1 kg. m²; J = 0.5 kg. m?11) The matrix B is given byB=[2 0 0 o]B=[0 2 0 o]"B=[0 0 2 o]B=[0 0 0 2]"

Given The system of equation Iθ¨1(t)+mglθ1(t)+kθ1(t)-θ2(t)=0Jθ¨2(t)-kθ1(t)-θ2(t)=u(t) The change…

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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