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B. Nise, Chapter 7, Experiment 2, Prelab You are given the model of a single joint of a robotic manipulator shown in Figure 7.26 (Spong, 2005), where B is the coefficient of viscous friction, d(s) is the desired angle, 0(s) is the output angle, and D(s) is the disturbance. We want to track the joint angle using a PD controller, which we will study in Chapter 9. Assume J = B = 1. Find the step and ramp responses of this system for the following combinations of PD gains (Kp, KD): (16, 7), (64, 15), and (144, 23). FIGURE 7.26 D(s) PD controller Plant Od(8) B(s) 1 Kp+ KDS Js² + Bs Assume D(s) 0 =

B. Nise, Chapter 7, Experiment 2, Prelab You are given the model of a single joint of a robotic manipulator shown in Figure 7.26 (Spong, 2005), where B is the coefficient of viscous friction, d(s) is the desired angle, 0(s) is the output angle, and D(s) is the disturbance. We want to track the joint angle using a PD controller, which we will study in Chapter 9. Assume J = B = 1. Find the step and ramp responses of this system for the following combinations of PD gains (Kp, KD): (16, 7), (64, 15), and (144, 23). FIGURE 7.26 D(s) PD controller Plant Od(8) B(s) 1 Kp+ KDS Js² + Bs Assume D(s) 0 =

Understanding Motor Controls
Understanding Motor Controls
4th Edition
ISBN:9781337798686
Author:Stephen L. Herman
Publisher:Stephen L. Herman
Chapter54: The Operational Amplifier
Section: Chapter Questions
Problem 7RQ: Name two effects of negative feedback.
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B. Nise, Chapter 7, Experiment 2, Prelab You are given the model of a single joint of a robotic manipulator shown in Figure 7.26 (Spong, 2005), where B is the coefficient of viscous friction, d(s) is the desired angle, 0(s) is the output angle, and D(s) is the disturbance. We want to track the joint angle using a PD controller, which we will study in Chapter 9. Assume J = B = 1. Find the step and ramp responses of this system for the following combinations of PD gains (Kp, KD): (16, 7), (64, 15), and (144, 23). FIGURE 7.26 D(s) PD controller Plant Od(8) B(s) 1 Kp+ KDS Js² + Bs Assume D(s) 0 =
Transcribed Image Text:B. Nise, Chapter 7, Experiment 2, Prelab You are given the model of a single joint of a robotic manipulator shown in Figure 7.26 (Spong, 2005), where B is the coefficient of viscous friction, d(s) is the desired angle, 0(s) is the output angle, and D(s) is the disturbance. We want to track the joint angle using a PD controller, which we will study in Chapter 9. Assume J = B = 1. Find the step and ramp responses of this system for the following combinations of PD gains (Kp, KD): (16, 7), (64, 15), and (144, 23). FIGURE 7.26 D(s) PD controller Plant Od(8) B(s) 1 Kp+ KDS Js² + Bs Assume D(s) 0 =
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