DP10 1 In Figure DP10 1, two robots are shown coop erating with each other to manipulate a long shaft to insert it into the hole in the block resting on the table Long part insertion is a good example of a task that can benefit from cooperative control The unity feed back control system of one robot joint has the process transfer function The specifications require a steady state error for a unit ramp input of 0 01, and the step response has an overshoot of P O 5 with a settling time (with a 2 criterion) of T s 1 s Determine a lead lag com pensator that will meet the specifications, and plot the compensated responses for the ramp and step inputs G(s) 15 s(s 3)

Question

DP10 1 In Figure DP10 1, two robots are shown coop erating with each other to manipulate a long shaft to insert it into the hole in the block resting on the table  Long part insertion is a good example of a task that can benefit from cooperative control  The unity feed back control system of one robot joint has the process transfer function The specifications require a steady state error for a unit ramp input of 0 01, and the step response has an overshoot of P O      5  with a settling time (with a 2  criterion) of T s  1 s  Determine a lead lag com pensator that will meet the specifications, and plot the compensated responses for the ramp and step inputs  G(s)  15 s(s 3)

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Question: DP10.1 In Figure DP10.1, two robots are shown coop erating with each other to manipulate a long shaft to insert it into the hole in

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