AP10 1 A three axis pick and place application re quires the precise movement of a robotic arm in three dimensional space, as shown in Figure AP10 1 for joint 2 The arm has specific linear paths it must follow to avoid other pieces of machinery The over shoot for a step input should be less than 13 (a) Let G s c ( ) K , and determine the gain K that satisfies the requirement Determine the re sulting settling time (with a 2 criterion) (b) Use pole zero cancellation to reduce the settling time to T s 5 s

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AP10 1 A three axis pick and place application re quires the precise movement of a robotic arm in three dimensional space, as shown in Figure AP10 1 for joint 2  The arm has specific linear paths it must follow to avoid other pieces of machinery  The over shoot for a step input should be less than 13   (a) Let G s c ( )   K , and determine the gain K that satisfies the requirement  Determine the re sulting settling time (with a 2  criterion)  (b) Use pole zero cancellation to reduce the settling time to T s  5 s

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Question: AP10.1 A three-axis pick-and-place application re quires the precise movement of a robotic arm in three-dimensional space, as shown in Figure AP10.1 for joint 2.

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