Design Project ece382
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Written by:
Sandra C
Date added:
June 24, 2014
Level:
University
Grade:
B
No of pages / words:
2 / 448
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6658 times
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Essay content:
The system represents a robotic arm actuated at the elbow joint. The overall system is represented as a block diagram below.
Procedure
To begin, we assumed that Gp(s) was equal to 1 and our gain, K, was also equal to 1. With this assumption, we found the transfer function to be:
OVERALL TRANSFER FUNCTION WHEN Gp(s)=1:
T = GpG1G2/[1+G1G2H]
0...
displayed 300 characters
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With this assumption, we found the transfer function to be:
OVERALL TRANSFER FUNCTION WHEN Gp(s)=1:
T = GpG1G2/[1+G1G2H]
0.3009 s^3 + 2.708 s^2 + 8.424 s + 6.017
----------------------------------------
s^4 + 12 s^3 + 52 s^2 + 86 s + 6
With the aid of Matlab, we then created a Root-locus plot to find the values of gain, K...
displayed next 300 characters
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