Question

Industrial robots are used for myriad applications  shows a robot used to move 55-pound bags of salt pellets; a vacuum head lifts the bags before positioning. The robot can move as many as 12 bags per minute. Assume a model for the open-loop swivel controller and plant of

Answer 1

@ Grs) = 1. x (S-1) (3²+ 45+12) We can consider secondarder approximation because the dominant Poles are located at 5 +45 floso (5+2)+(6)=0 Dominant poles a (so-2+55o I rollsc. - (s) » (second order approximota Third pole of a -log(er) s times further, so second order approximation is valid acs) recen -> (second order appartimoto comparing 3²+ 4s flos 3²+28 wyst on? Tona To = 3.16 rollsea ir - 2&wna ha f&= 0.632 3 4.0, -s 15 = wins 25 - Tra 2016 & +960 un linear approximation which is valid for 0.3<& <087 since &=0,832 (it is valid) are 2.16 X 06327 26 (STO) T = 0.621 sec Command Window New to MATLAB? See resources for Getting Started. >> s=tf('s'); >> G=1/((s+10) * (s^2+4*5+10)) G = 1 S^3 + 14 s^2 + 50 S + 100 Continuous-time transfer function. >> stepinfo (G) ans = struct with fields: RiseTime: 0.6492 SettlingTime: 2.0021 SettlingMin: 0.0091 SettlingMax: 0.0107 Overshoot: 7.2124 Undershoot: 0 Peak: 0.0107 PeakTime: 1.4046 >> step (G) fx >> | Step Response 0.012 System: G Settling time (seconds): 2 System: G Final value: 0.01 0.01 System: G Rise time (seconds): 0.649 System: G Peak amplitude: 0.0107 Overshoot (%): 7.21 At time (seconds): 1.4 0.008 Amplitude י-י-י-י-י-י-י-י-י-י-י-י-י-ירי- 0.004 0.002 0.5 1.5 Time (seconds) 2 2.5

-s 15 = wins 25 - Tra 2016 & +960 un linear approximation which is valid for 0.3<& <087 since &=0,832 (it is valid) are 2.16 X 06327 26 (STO) T = 0.621 sec

Matlab:

Command Window New to MATLAB? See resources for Getting Started. >> s=tf('s'); >> G=1/((s+10) * (s^2+4*5+10)) G = 1 S^3 + 14 s^2 + 50 S + 100 Continuous-time transfer function. >> stepinfo (G) ans = struct with fields: RiseTime: 0.6492 SettlingTime: 2.0021 SettlingMin: 0.0091 SettlingMax: 0.0107 Overshoot: 7.2124 Undershoot: 0 Peak: 0.0107 PeakTime: 1.4046 >> step (G) fx >> |

step response:

Step Response 0.012 System: G Settling time (seconds): 2 System: G Final value: 0.01 0.01 System: G Rise time (seconds): 0.649 System: G Peak amplitude: 0.0107 Overshoot (%): 7.21 At time (seconds): 1.4 0.008 Amplitude י-י-י-י-י-י-י-י-י-י-י-י-י-ירי- 0.004 0.002 0.5 1.5 Time (seconds) 2 2.5

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Answer 2