Consider the following system of equations of a single link robotic manipulator with a flexible joint I6, (t) + mgl sin 01 (t) + k(0, (t) – O2(t)) = 0 JÖ, (t) – k(01 (t) – 62 (t)) = u(t) where 0, (t), 02 (t) are the angular positions, I, J are moments of inertia, m, l, k are link mass, length and spring constant respectively. Introduce the change of variables as r1(t) = 01 (t), x2(t) = 01(t), x3(t) = 02 (t), x4(t) = 02(t) Find the linearised state space model of the system with equilibrium conditions [x; x; x; x" . Take the values of k = 0.5 N/m; g= 9.8m/s²; m=0.5 kg; l = 0.5 m; I = 1 kg. m²; J = 0.5 kg. m². 13) The matrix D is given by D=[1 1 0 1] D=[0 1 1 0] D=[0 0 1 1] D=[0 0 0 0]
Consider the following system of equations of a single link robotic manipulator with a flexible joint I6, (t) + mgl sin 01 (t) + k(0, (t) – O2(t)) = 0 JÖ, (t) – k(01 (t) – 62 (t)) = u(t) where 0, (t), 02 (t) are the angular positions, I, J are moments of inertia, m, l, k are link mass, length and spring constant respectively. Introduce the change of variables as r1(t) = 01 (t), x2(t) = 01(t), x3(t) = 02 (t), x4(t) = 02(t) Find the linearised state space model of the system with equilibrium conditions [x; x; x; x" . Take the values of k = 0.5 N/m; g= 9.8m/s²; m=0.5 kg; l = 0.5 m; I = 1 kg. m²; J = 0.5 kg. m². 13) The matrix D is given by D=[1 1 0 1] D=[0 1 1 0] D=[0 0 1 1] D=[0 0 0 0]
Introductory Circuit Analysis (13th Edition)
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Author:Robert L. Boylestad
Publisher:Robert L. Boylestad
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![Consider the following system of equations of a single link robotic manipulator with a flexible joint
I6, (t) + mgl sin 01 (t) + k(0, (t) – O2(t)) = 0
JÖ, (t) – k(01 (t) – 62 (t)) = u(t)
where 0, (t), 02 (t) are the angular positions, I, J are moments of inertia, m, l, k are link mass, length and spring constant respectively. Introduce the change
of variables as r1(t) = 01 (t), x2(t) = 01(t), x3(t) = 02 (t), x4(t) = 02(t) Find the linearised state space model of the system with equilibrium conditions
[x; x; x; x" . Take the values of k = 0.5 N/m; g= 9.8m/s²; m=0.5 kg; l = 0.5 m; I = 1 kg. m²; J = 0.5 kg. m².
13) The matrix D is given by
D=[1 1 0 1]
D=[0 1 1 0]
D=[0 0 1 1]
D= [0 0 0 0]](/v2/_next/image?url=https%3A%2F%2Fcontent.bartleby.com%2Fqna-images%2Fquestion%2Fd7bd8da1-42da-4ea6-b2a6-7d1aa0bd08a9%2F84c9797b-e656-47e4-86de-9e1d553a1d7b%2Fye6jn4i_processed.png&w=3840&q=75)
Transcribed Image Text:Consider the following system of equations of a single link robotic manipulator with a flexible joint
I6, (t) + mgl sin 01 (t) + k(0, (t) – O2(t)) = 0
JÖ, (t) – k(01 (t) – 62 (t)) = u(t)
where 0, (t), 02 (t) are the angular positions, I, J are moments of inertia, m, l, k are link mass, length and spring constant respectively. Introduce the change
of variables as r1(t) = 01 (t), x2(t) = 01(t), x3(t) = 02 (t), x4(t) = 02(t) Find the linearised state space model of the system with equilibrium conditions
[x; x; x; x" . Take the values of k = 0.5 N/m; g= 9.8m/s²; m=0.5 kg; l = 0.5 m; I = 1 kg. m²; J = 0.5 kg. m².
13) The matrix D is given by
D=[1 1 0 1]
D=[0 1 1 0]
D=[0 0 1 1]
D= [0 0 0 0]
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