Question: Provide the ideal gain scheduling for Figure 12.16 as a function of Q. DATA FROM FIGURE 12.16 Assume inertia varies with theta as follows: where

Provide the ideal gain scheduling for Figure 12.16 as a function of Q.

DATA FROM FIGURE 12.16

COULOMB fCOULOMB SSTICTION Force -ISTICTION Velocity Coulomb friction + Stiction + Viscous

Assume inertia varies with theta as follows:

where JM is the motor inertia, JL is the load inertia, and R is the length of both arms connected to the elbow. Assume that the nominal gain is defined as the gain when Q = 0.

COULOMB fCOULOMB SSTICTION Force -ISTICTION Velocity Coulomb friction + Stiction + Viscous damping Total friction

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