Problem #8 Consider a single axis robot control system with an optical shaft encoder measuringboth position and velocity of the joint axis. The open loop transfer function from input armaturevoltage u to the joint angle θ is given byG(s) = (θ(s))/(u(s)) = (1)/(s(a1s a2))Where a1 = 0.16 and a2 = 0.53a. (5 points) Derive the closed loop transfer functionGCL(s) = (θ(s))/((s))b. (5 points) Select kp and kv so that the closed loop joint control is stable with naturalfrequency = 3 and damping ratio
Problem #8 Consider a single axis robot control system with an optic…
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SOLVED:In control systems analysis, transfer functions are developed that mathematically relate the dynamics of a system's input to its output. A transfer function for a robotic positioning system is given by G(s)=(C(s))/(N(s))=(s^3 12.5 s^2 50.5 s 66)/(s^4 19 s^3 122 s^2 296 s 192) where G(s)= system gain, C(s)= system output, N(s)= system input, and s= Laplace transform complex frequency. Use a numerical technique to find the roots of the numerator and denominator and factor these into the for
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