Robots can be used in manufacturing and assembly operations that require accurate, fast
Chapter 0, Problem P6.10(choose chapter or problem)
Robots can be used in manufacturing and assembly operations that require accurate, fast, and versatile manipulation [10,11]. The open-loop transfer function of a direct-drive arm may be approximated by G(s)H(s) K(s + 10) s(s + 3)(s2 + 4s + 8)" (a) Determine the value of gain K when the system oscillates, (b) Calculate the roots of the closed-loop system for the K determined in part (a).
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