Consider the following mathematical model of a single-link flexible joint robotic manipulator (shown in the following figure) where the output of the system is y(t) = q₁(t), and I,m, g.l, k and are constants. lä(t) + MgLsin(q1(t)) + k(q1(t)-92(t)) = 0 Jäz(t)-k(q1(t)-92(t)) = u(t) a) Linearize the nonlinear dynamics at the working point q₁ =1=92=42=0. b) For parameters I = 2,J = 1, k = 1, g = 10, M = 0.1, L = 1, find the transfer function from input u to the output y.

Consider the following mathematical model of a single-link flexible joint robotic manipulator (shown in the following figure) where the output of the system is y(t) = q₁(t), and I,m, g.l, k and are constants. lä(t) + MgLsin(q1(t)) + k(q1(t)-92(t)) = 0 Jäz(t)-k(q1(t)-92(t)) = u(t) a) Linearize the nonlinear dynamics at the working point q₁ =1=92=42=0. b) For parameters I = 2,J = 1, k = 1, g = 10, M = 0.1, L = 1, find the transfer function from input u to the output y.

Elements Of Electromagnetics

7th Edition

ISBN:9780190698614

Author:Sadiku, Matthew N. O.

Publisher:Sadiku, Matthew N. O.

ChapterMA: Math Assessment

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Consider the following mathematical model of a single-link flexible joint robotic manipulator
(shown in the following figure) where the output of the system is y(t) = q₁(t), and I, m, g,l,k
and are constants.
lä(t) + MgLsin(q1(t)) + k(q1(t) - 92(t)) = 0
Jäz(t)-k(q1(t)-92(t)) = u(t)
a) Linearize the nonlinear dynamics at the working point q₁ = q₁ = 92 = 92 = 0.
b) For parameters I = 2,J = 1, k = 1, g = 10, M = 0.1, L = 1, find the transfer function
from input u to the output y.
92
91
M, I

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