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)

Principles of Heat Transfer (Activate Learning with these NEW titles from Engineering!)

8th Edition

ISBN:9781305387102

Author:Kreith, Frank; Manglik, Raj M.

Publisher:Kreith, Frank; Manglik, Raj M.

Chapter4: Numerical Analysis Of Heat Conduction

Section: Chapter Questions

Problem 4.6P

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