Question

robotics . please Answer The Q. stap By Stap

simplify all Results

answer must be Neat And Readable.

thank You

Design Problem #2 A three-axis pick-and-place application requires the precise movement of a robotic arm in three-dimensional space as shown in the following figure for joint 2. The transfer function for the joint (plant) is G(s)- The arm has specific linear paths it must follow to avoid other pieces of machinery. Design a state feedback or a phase-lead compensator such that the overshoot for a step input should be less than 13% and the settling time is 3s (with a 2% criterion) Plot the compensated response for the step input Motor 2 Motor 3 Motor 1 Motor 4 Y(s)

Answer 1

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