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Robots can be used in manufacturing and assembly operations that require accurate, fast, and versatile manipulation. The...

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Electrical Engineering

Robots can be used in manufacturing and assemblyoperations that require accurate,
fast, and versatile manipulation. The open-loop transfer functionof a direct-drive arm may
be approximated by
??(??)??(??) = ??(?? + 10)
??(?? + 3)(??2 + 4s + 8)
a) Determine the value of gain K when the system oscillates,
b) Calculate the roots of the closed-loop system for the Kdetermined in part (a).

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