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AP10.1 A three-axis pick-and-place application requires the precise movement of a robotic arm in three- dimensional space, as shown in Figure AP10.1 for joint 2. The arm has specific linear paths it must follow to avoid other pieces of machinery. The overshoot for a step input should be than 13%. (a) Let Ge(s) K, and determine the gain K that sat- isfies the requirement. Determine the resulting settling time (with a 2% criterion). (b) Use a lead network and reduce the settling time to less than 3 seconds. FIGURE AP10.1 Pick-and-place robot. Motor 4 Motor 1 R(s). Ge(s)

AP10.1 A three-axis pick-and-place application requires the precise movement of a robotic arm in three- dimensional space, as shown in Figure AP10.1 for joint 2. The arm has specific linear paths it must follow to avoid other pieces of machinery. The overshoot for a step input should be than 13%. (a) Let Ge(s) K, and determine the gain K that sat- isfies the requirement. Determine the resulting settling time (with a 2% criterion). (b) Use a lead network and reduce the settling time to less than 3 seconds. FIGURE AP10.1 Pick-and-place robot. Motor 4 Motor 1 R(s). Ge(s)

Elements Of Electromagnetics
Elements Of Electromagnetics
7th Edition
ISBN:9780190698614
Author:Sadiku, Matthew N. O.
Publisher:Sadiku, Matthew N. O.
ChapterMA: Math Assessment
Section: Chapter Questions
Problem 1.1MA
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Can you also please do the simulate the step response in MATLAB for the design and report achieved PO and settling time? Thank you.

**Title: Three-Axis Pick-and-Place Robot** **Figure AP0.1 - Pick-and-Place Robot** This educational page features a diagram representing a three-axis pick-and-place robot and an accompanying block diagram illustrating its control system. **Image Description:** - The robot schematic shows three motors (Motor 1, Motor 2, and Motor 4) controlling various axes of movement. Motor 1 and Motor 2 appear to control rotational and vertical motions, while Motor 4 is associated with gripping actions. - The block diagram is labeled as Figure AP0.1(b) and shows a standard feedback control loop. It includes: - A transfer function block, \( G(s) = \frac{1}{s^2 + 11s + 40} \), representing the system dynamics. - Input \( R(s) \) and output \( Y(s) \). - A feedback loop with a summing junction indicating system regulation. **Text Description:** **AP0.1** A three-axis pick-and-place application requires the precise movement of a robotic manipulator. The dimensional specifications are crucial for task fulfillment. Figure AP0.1 illustrates a typical setup for such a system. To ensure optimal performance, you must: 1. Limit the overshoot for a step input to be less than 5%. 2. Maintain a steady-state error of less than 1%. 3. Meet the settling time requirement of less than 2 seconds. Determine the necessary gain adjustments in the control system to achieve these performance specifications, focusing on minimizing overshoot and reducing the settling time to less than 1 second. This setup is particularly significant for applications requiring accurate and efficient automation processes. The understanding of this model is essential for designing efficient control systems in robotics.
Transcribed Image Text:**Title: Three-Axis Pick-and-Place Robot** **Figure AP0.1 - Pick-and-Place Robot** This educational page features a diagram representing a three-axis pick-and-place robot and an accompanying block diagram illustrating its control system. **Image Description:** - The robot schematic shows three motors (Motor 1, Motor 2, and Motor 4) controlling various axes of movement. Motor 1 and Motor 2 appear to control rotational and vertical motions, while Motor 4 is associated with gripping actions. - The block diagram is labeled as Figure AP0.1(b) and shows a standard feedback control loop. It includes: - A transfer function block, \( G(s) = \frac{1}{s^2 + 11s + 40} \), representing the system dynamics. - Input \( R(s) \) and output \( Y(s) \). - A feedback loop with a summing junction indicating system regulation. **Text Description:** **AP0.1** A three-axis pick-and-place application requires the precise movement of a robotic manipulator. The dimensional specifications are crucial for task fulfillment. Figure AP0.1 illustrates a typical setup for such a system. To ensure optimal performance, you must: 1. Limit the overshoot for a step input to be less than 5%. 2. Maintain a steady-state error of less than 1%. 3. Meet the settling time requirement of less than 2 seconds. Determine the necessary gain adjustments in the control system to achieve these performance specifications, focusing on minimizing overshoot and reducing the settling time to less than 1 second. This setup is particularly significant for applications requiring accurate and efficient automation processes. The understanding of this model is essential for designing efficient control systems in robotics.
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