Homework Help is Here – Start Your Trial Now!
Engineering
Electrical Engineering
Consider the following system of equations of a single link robotic manipulator with a flexible joint I6, (t) + mgl sin 0j (t) + k(0, (t) – 02(t)) = 0 JÖ,(t) – k(0, (t) – 02(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 change of variables as r1(t) = 01 (t), æ2(t) = 0 1(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 10) What is the matrix A in the state space model ? 1 -2.95 0 0.5 0 A = 1 1 -1 1 1 2.95 -1 0 A = 1 0.5 1 -1 1 1 4.9 0 -1 A = 1 0.5 1 -1 1 1 4.9 0 -1 A = 1 1 1

Consider the following system of equations of a single link robotic manipulator with a flexible joint I6, (t) + mgl sin 0j (t) + k(0, (t) – 02(t)) = 0 JÖ,(t) – k(0, (t) – 02(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 change of variables as r1(t) = 01 (t), æ2(t) = 0 1(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 10) What is the matrix A in the state space model ? 1 -2.95 0 0.5 0 A = 1 1 -1 1 1 2.95 -1 0 A = 1 0.5 1 -1 1 1 4.9 0 -1 A = 1 0.5 1 -1 1 1 4.9 0 -1 A = 1 1 1

Introductory Circuit Analysis (13th Edition)
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...
See similar textbooks
icon
Related questions
Question
Consider the following system of equations of a single link robotic manipulator with a flexible joint I6, (t) + mgl sin 1 (t) + k(6, (t) – 02 (t)) = 0 JÖ, (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 change of variables as r1(t) = 01 (t), x2(t) = 01(t), x3(t) = 02 (t), x4(t) = Ô2(t) Find the linearised state space model of the system with equilibrium conditions [x; x; x; x]T. 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 . 10) What is the matrix A in the state space model ? 1 -2.95 0.5 A = 1 1 -1 1 1 0 2.95 -1 A = 1 0.5 1 -1 1 1 4.9 A = -1 1 0.5 1 0 -1 1 1 -4.9 -1 A = 1 1 1 -1
Transcribed Image Text:Consider the following system of equations of a single link robotic manipulator with a flexible joint I6, (t) + mgl sin 1 (t) + k(6, (t) – 02 (t)) = 0 JÖ, (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 change of variables as r1(t) = 01 (t), x2(t) = 01(t), x3(t) = 02 (t), x4(t) = Ô2(t) Find the linearised state space model of the system with equilibrium conditions [x; x; x; x]T. 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 . 10) What is the matrix A in the state space model ? 1 -2.95 0.5 A = 1 1 -1 1 1 0 2.95 -1 A = 1 0.5 1 -1 1 1 4.9 A = -1 1 0.5 1 0 -1 1 1 -4.9 -1 A = 1 1 1 -1
Expert Solution
steps

Step by step

Solved in 4 steps

SEE SOLUTIONCheck out a sample Q&A here
Blurred answer
Similar questions
  • SEE MORE QUESTIONS
Recommended textbooks for you
Introductory Circuit Analysis (13th Edition)
Introductory Circuit Analysis (13th Edition)
Electrical Engineering
ISBN:
9780133923605
Author:
Robert L. Boylestad
Publisher:
PEARSON
Delmar's Standard Textbook Of Electricity
Delmar's Standard Textbook Of Electricity
Electrical Engineering
ISBN:
9781337900348
Author:
Stephen L. Herman
Publisher:
Cengage Learning
Programmable Logic Controllers
Programmable Logic Controllers
Electrical Engineering
ISBN:
9780073373843
Author:
Frank D. Petruzella
Publisher:
McGraw-Hill Education
Fundamentals of Electric Circuits
Fundamentals of Electric Circuits
Electrical Engineering
ISBN:
9780078028229
Author:
Charles K Alexander, Matthew Sadiku
Publisher:
McGraw-Hill Education
Electric Circuits. (11th Edition)
Electric Circuits. (11th Edition)
Electrical Engineering
ISBN:
9780134746968
Author:
James W. Nilsson, Susan Riedel
Publisher:
PEARSON
Engineering Electromagnetics
Engineering Electromagnetics
Electrical Engineering
ISBN:
9780078028151
Author:
Hayt, William H. (william Hart), Jr, BUCK, John A.
Publisher:
Mcgraw-hill Education,
SEE MORE TEXTBOOKS