1.5 The nonlinear dynamic equations for a single-link manipulator with flexible joints [185], damping ignored, is given by Iĝı + MgL sin q1 + k(q1 - 92) = Jä2 – k(q1 - 92) where q1 and q2 are angular positions, I and J are moments of inertia, k is a spring constant, M is the total mass, L is a distance, and u is a torque input. Choose state variables for this system and write down the state equation.

1.5 The nonlinear dynamic equations for a single-link manipulator with flexible joints [185], damping ignored, is given by Iĝı + MgL sin q1 + k(q1 - 92) = Jä2 – k(q1 - 92) where q1 and q2 are angular positions, I and J are moments of inertia, k is a spring constant, M is the total mass, L is a distance, and u is a torque input. Choose state variables for this system and write down the state equation.

Structural Analysis

6th Edition

ISBN:9781337630931

Author:KASSIMALI, Aslam.

Publisher:KASSIMALI, Aslam.

Chapter2: Loads On Structures

Section: Chapter Questions

Problem 1P

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