Control Systems Engineering
7th Edition
ISBN: 9781118170519
Author: Norman S. Nise
Publisher: WILEY
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Chapter 1, Problem 10P
A Segway ®5 Personal Transporter (PT) (Figure Pl .3) is a two-wheeled vehicle in which the human operator stands vertically on a platform. As the driver leans left, right, forward, or backward, a set of sensitive gyroscopic- sensors sense the desired input. These signals are fed to a computer that amplifies them and commands motors to propel the vehicle in the desired direction. One very important feature of the PT is its safety: The system will maintain its vertical position within a specified angle despite road disturbances, such as uphills and downhills or even if the operator over-leans in any direction. Draw a functional block diagram of the PT system that keep The System in a vertical position. Indicate the input and output signals, intermediate signals, and many subsystems. (http://segway.com)
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Shown in Fig. 3.1 is an R-P-R industrial robot. Note that Link 1 and Link 2 to are always perpendicular to each other.
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Joint 3
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A'
Link 0
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Construct the DH-parameters table for this robot arm.
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a. Given joint variables and link parameters, make DH table of RRR robot
shown below and calculate T4. (Forward kinematics analysis)
b. Given link parameters and coordinates (P
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Chapter 1 Solutions
Control Systems Engineering
Ch. 1 - Prob. 1RQCh. 1 - Prob. 2RQCh. 1 - Prob. 3RQCh. 1 - Prob. 4RQCh. 1 - State one condition under which the error signal...Ch. 1 - Prob. 6RQCh. 1 - Name two advantages of having a computer in the...Ch. 1 - Name the three major design criteria for control...Ch. 1 - Prob. 9RQCh. 1 - Physically, what happens to a system that is...
Ch. 1 - Instability is attributable to what pan of the...Ch. 1 - Describe a typical control system analy sis task.Ch. 1 - Describe a typical control system design task.Ch. 1 - Prob. 14RQCh. 1 - Name three approaches to the mathematical modeling...Ch. 1 - Briefly describe each of your answers to Question...Ch. 1 - Prob. 1PCh. 1 - Prob. 2PCh. 1 - An aircraft's attitude varies in roll, pitch, and...Ch. 1 - We can build a control system that will...Ch. 1 - Prob. 5PCh. 1 - During a medical operation an anesthesiologist...Ch. 1 - Prob. 7PCh. 1 - Prob. 8PCh. 1 - The human eye has a biological control system that...Ch. 1 - A Segway ®5 Personal Transporter (PT) (Figure Pl...Ch. 1 - In humans, hormone levels, alertness, and core...Ch. 1 - Tactile feedback is an important component in the...Ch. 1 - Prob. 13PCh. 1 - Moored floating platforms are subject to external...Ch. 1 - In the Case Study of Section 1.4. an antenna...Ch. 1 - Figure Pl.5 shows the topology of a photo-voltaic...Ch. 1 - Prob. 17PCh. 1 - Prob. 18PCh. 1 - Prob. 19PCh. 1 - Prob. 20PCh. 1 - Prob. 21PCh. 1 - Contol of HIV/AIDS. As of 2012. the number of...Ch. 1 - Prob. 23PCh. 1 - Parabolic trough collector. A set of parabolic...
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- [15] Show the attachment of link frames on the three-link robot shown in Fig. 3.40.arrow_forwardAs3arrow_forwardB. Nise, Chapter 7, Experiment 2, Prelab You are given the model of a single joint of a robotic manipulator shown in Figure 7.26 (Spong, 2005), where B is the coefficient of viscous friction, d(s) is the desired angle, 0(s) is the output angle, and D(s) is the disturbance. We want to track the joint angle using a PD controller, which we will study in Chapter 9. Assume J = B = 1. Find the step and ramp responses of this system for the following combinations of PD gains (Kp, KD): (16, 7), (64, 15), and (144, 23). FIGURE 7.26 D(s) PD controller Plant Od(8) B(s) 1 Kp+ KDS Js² + Bs Assume D(s) 0 =arrow_forward
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