A robotic arm and camera could be used to pick fruit, as shown in Figure E4.3(a). The

Question:

A robotic arm and camera could be used to pick fruit, as shown in Figure E4.3(a). The camera is used to close the feedback loop to a microcomputer, which controls the arm [8, 9]. The transfer function for the process is
G(s) = K / (s + 5)2
(a) Calculate the expected steady-state error of the gripper for a step command A as a function of K.
(b) Name a possible disturbance signal for this system.