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Consider the following system of equations of a single link robotic manipulator with a flexible joint I6 (t) + mgl sin 0, (t) + k(8, (t) – 02 (t)) = 0 JÖ,(t) – k(0, (t) – 02(t)) = u(t) where 01 (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 æ1(t) = 01 (t), æ2(t) = 0 1(t), x3(t) = 02(t), æ4(t) = 02(t) Find the linearised state space model of the system with equilibrium conditions [2; x; x;; x;]T . 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, 11) The matrix B is given by B=[2 0 0 o]" B=[0 2 0 o" B=[0 0 2 of B= [0 0 0 2]*

Consider the following system of equations of a single link robotic manipulator with a flexible joint I6 (t) + mgl sin 0, (t) + k(8, (t) – 02 (t)) = 0 JÖ,(t) – k(0, (t) – 02(t)) = u(t) where 01 (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 æ1(t) = 01 (t), æ2(t) = 0 1(t), x3(t) = 02(t), æ4(t) = 02(t) Find the linearised state space model of the system with equilibrium conditions [2; x; x;; x;]T . 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, 11) The matrix B is given by B=[2 0 0 o]" B=[0 2 0 o" B=[0 0 2 of B= [0 0 0 2]*

Introductory Circuit Analysis (13th Edition)
Introductory Circuit Analysis (13th Edition)
13th Edition
ISBN:9780133923605
Author:Robert L. Boylestad
Publisher:Robert L. Boylestad
Chapter1: Introduction
Section: Chapter Questions
Problem 1P: Visit your local library (at school or home) and describe the extent to which it provides literature...
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Consider the following system of equations of a single link robotic manipulator with a flexible joint 16, (t) + mgl sin 0, (t) + k(61 (t) – 02 (t)) = 0 JÖ, (t) – k(0, (t) – 02 (t)) = u(t) where 01 (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), 14(t) = Ô2(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/s?;m = 0.5 kg; l = 0.5 m; I = 1 kg. m²; J = 0.5 kg. m? 11) The matrix B is given by B=[2 0 0 o] B=[0 2 0 o]" B=[0 0 2 o] B=[0 0 0 2]"
Transcribed Image Text:Consider the following system of equations of a single link robotic manipulator with a flexible joint 16, (t) + mgl sin 0, (t) + k(61 (t) – 02 (t)) = 0 JÖ, (t) – k(0, (t) – 02 (t)) = u(t) where 01 (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), 14(t) = Ô2(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/s?;m = 0.5 kg; l = 0.5 m; I = 1 kg. m²; J = 0.5 kg. m? 11) The matrix B is given by B=[2 0 0 o] B=[0 2 0 o]" B=[0 0 2 o] B=[0 0 0 2]"
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