A robotic manipulator together with a cascade PI
Chapter 8, Problem 59(choose chapter or problem)
A robotic manipulator together with a cascade PI controller (used to improve steady-state response and discussed in Chapter 9) has a transfer function (Low, 2005)
G(s) = \(\left(K_p+\frac{K_1}{s}\right) \frac{48,500}{s^2+2.89 s}\)
Assume the robot's joint will be controlled in the configuration shown in Figure P8.3.
a. Find the value of \(K_I\) that will result in \(e_{s s}\) = 2% for a parabolic input.
b. Using the value of \(K_I\) found in Part a, plot the root locus of the system as a function of \(K_P\).
c. Find the value of \(K_P\) that will result in a real pole at -1. Find the location of the other two poles.
Unfortunately, we don't have that question answered yet. But you can get it answered in just 5 hours by Logging in or Becoming a subscriber.
Becoming a subscriber
Or look for another answer