Question 5: A model for a single joint of a robotic manipulator is shown in Figure below. The usual notation is used. The gear inertia is neglected and the gear reduction ratio is taken as 1:r (Note: r < 1). a) Draw a linear graph for the model, assuming that no external (load) torque is present at the robot arm. b) Using the linear graph derive a state model for this system. The input is the motor magnetic torque Tm and the output is the angular speed @, of the robot arm. What is the order of the system? m k J, J, m m b. m (viscous) 7 1:r Motor Robot Arm Gear Box (Light)

Question 5: A model for a single joint of a robotic manipulator is shown in Figure below. The usual notation is used. The gear inertia is neglected and the gear reduction ratio is taken as 1:r (Note: r < 1). a) Draw a linear graph for the model, assuming that no external (load) torque is present at the robot arm. b) Using the linear graph derive a state model for this system. The input is the motor magnetic torque Tm and the output is the angular speed @, of the robot arm. What is the order of the system? m k J, J, m m b. m (viscous) 7 1:r Motor Robot Arm Gear Box (Light)

Elements Of Electromagnetics

7th Edition

ISBN:9780190698614

Author:Sadiku, Matthew N. O.

Publisher:Sadiku, Matthew N. O.

ChapterMA: Math Assessment

Section: Chapter Questions

Problem 1.1MA

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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.

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