Q1. Consider the following nonlinear dynamic model of a single-link flexible manipulator: lä1 + MgL sin q1 + k(q1 – 92) = 0 Jäz – k(q1 – 92) = = u, where q1, q2 are angular positions, I,J > 0 are moments of inertia, k > 0 is a spring constant, M is the total mass, L is a distance, g is the gravitational constant, and u is a torque input. a) Choose state variables for this system and write down the nonlinear state equations.
Q1. Consider the following nonlinear dynamic model of a single-link flexible manipulator: lä1 + MgL sin q1 + k(q1 – 92) = 0 Jäz – k(q1 – 92) = = u, where q1, q2 are angular positions, I,J > 0 are moments of inertia, k > 0 is a spring constant, M is the total mass, L is a distance, g is the gravitational constant, and u is a torque input. a) Choose state variables for this system and write down the nonlinear state equations.
Advanced Engineering Mathematics
10th Edition
ISBN:9780470458365
Author:Erwin Kreyszig
Publisher:Erwin Kreyszig
Chapter2: Second-order Linear Odes
Section: Chapter Questions
Problem 1RQ
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