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Assuming the dynamic model of a of a one-link robot arm is given as: 1 "1 ma²0+ mga sin 0 where m, a, and 0 are the mass, link length, and joint angle, respectively, whereas g is the acceleration due to gravity and T is the controlling torque. (i) Expressed the dynamic model a linearized form by setting x₁ = 0 and x₂ = 0. (ii) Expressed the linearized form in (i) as a state-space form.

Assuming the dynamic model of a of a one-link robot arm is given as: 1 "1 ma²0+ mga sin 0 where m, a, and 0 are the mass, link length, and joint angle, respectively, whereas g is the acceleration due to gravity and T is the controlling torque. (i) Expressed the dynamic model a linearized form by setting x₁ = 0 and x₂ = 0. (ii) Expressed the linearized form in (i) as a state-space form.

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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Assuming the dynamic model of a of a one-link robot arm is given as: 1 1 T=ma²0+mga sin where m, a, and are the mass, link length, and joint angle, respectively, whereas g is the acceleration due to gravity and r is the controlling torque. (i) Expressed the dynamic model a linearized form by setting x₁ = 0 and x₂ = 0. (ii) Expressed the linearized form in (i) as a state-space form.
Transcribed Image Text:Assuming the dynamic model of a of a one-link robot arm is given as: 1 1 T=ma²0+mga sin where m, a, and are the mass, link length, and joint angle, respectively, whereas g is the acceleration due to gravity and r is the controlling torque. (i) Expressed the dynamic model a linearized form by setting x₁ = 0 and x₂ = 0. (ii) Expressed the linearized form in (i) as a state-space form.
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