A robot is programmed to have a tool or welding torch follow a prescribed path [7, 11]
Chapter 0, Problem P5.6(choose chapter or problem)
A robot is programmed to have a tool or welding torch follow a prescribed path [7, 11]. Consider a robot tool that is to follow a sawtooth path, as shown in Figure P5.6(a). The transfer function of the plant is G(s) 75(5 + 1) s(s + 5)(s + 25) for the closed-loop system shown in Figure 5.6(b). Calculate the steady-state error.
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