Design Project ece382
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Title: Design Project ece382

Essay Details:

Subject: Technology
Author: Nan M
Date: March 7, 2013
Level: University
Grade: B
Length: 2 / 448

Essay text:

The system represents a robotic arm actuated at the elbow joint. The overall system is represented as a block diagram below. Procedure To begin, we assumed that Gp(s) was equal to 1 and our gain, K, was also equal to 1. With this assumption, we found the transfer function to be: OVERALL TRANSFER FUNCTION WHEN Gp(s)=1: T = GpG1G2/[1+G1G2H] 0.3009 s^3 + 2.708 s^2 + 8.424 s + 6.017 ---------------------------------------- s^4 + 12 s^3 + 52 s^2 + 86 s + 6 With the aid of Matlab, we then created a Root-locus plot to find the values of gain, K. PLOT OF ROOT LOCUS FOR K>=0; STEADY STATE ERROR: We needed to select the input controller Gp so we could get a steady state error equal to zero for a step input so this required T(0) = 1...

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