Consider the control of the robot shown in Figure P3.18.The motor turning at the elbow
Chapter 0, Problem P3.18(choose chapter or problem)
Consider the control of the robot shown in Figure P3.18.The motor turning at the elbow moves the wrist through the forearm, which has some flexibility as shown [16]. The spring has a spring constant k and friction-damping constant b. Let the state variables be *i = 4>\ ~ $2 and x2 = (O^COQ, where a>l = Write the state variable equation in matrix form when x3 = a)2Ia>0. Elbow ^i Kr) Current Motor 4= VvWA k,b Wrist k h FIGURE P3.18 An industrial robot. (Courtesy of GCA Corporation.)
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