P4.7 A robot uses feedback to control the orientation of each joint axis. The load effect varies due to varying load objects and the extended position of the arm. The system will be deflected by the load carried in the gripper. Thus, the system may be represented by Figure P4.7 O, where the load torque is Ta (s) = D/s. Assume R(s) = 0 at the index position. (a) What is the effect of Ta(s) on Y(s)? (b) Determine the sensitivity of the closed loop to k2. (c) What is the steady-state error when R(s) = 1/s and T«(s) = 0? Load disturbance Ta(s) Controller R(s) Y(s) Desired k2 Actual k1 joint angle joint angle s(TS + 1) k3 + k4s Figure P4.7 Robot control system.

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Entropy

In physics, entropy means the amount of disorder or the degree of randomness associated with a thermodynamic system. The system is not self-organized when the entropy of the system is high. For instance, when a system is at an elevated temperature, its molecules are in random motion, vibrating and colliding with each other. During this scenario, the probability of finding a molecule at a particular place twice, is low. Under this circumstance, the system can be said to be in a high entropy.