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Unformatted text preview: CMPE 8 NAME:
Fall 2008 Quiz 4 Test Time: 12:05—12:45 PM. Be sure to write CLEARLY! 1, (5 points) Write the Matlab commands to generate a time vector t that starts with
10, ends with 20, and has a sample period of 0.5. >> if: [\G :. 0% 3/201.) 2. (6 points) For the time vector t deﬁned above, what are: a) t(3), b) 13(8) and c) the
length of the vector? a) {K
b) [’65
c) M a——.. l 3. (3 points) Evaluate each of your team members performance by ﬁlling out the following
table Use the following ranking: lmexcellent, 2=very good, 3zgood, 4=less than satisfactory, 5=totally lame Team Member Name  Ranking Team Name: 4. (5 points) Write down the dynamic model for a robot’s translational position x and
rotational position 6. Included in the model are the constant sample period A, trans—
lational speed uk and rotational speed '03:. $k+1= XlQJV— AULJQCUCED(®LAB (1) E 19+] (":5 I I 1 r i
R r b EV} .
‘7‘». 5. (5 points) The wall—following control is given by 33k — RSk—i T= ' <2) Where kp, id, dsep and umm are positive constants. Substitution of (2) into (1) gives
.the closed—loop dynamic model of the robot. ”k = ”110111: vi: = l(31::(33ls: _ deep) "l" kd Write down the closed—loop dynamic model of the robot. ARM: Kiel? Awhom Cdg< $14)
MELHT Qt JVZEPQWW 5951553 1L J%\Kpjl(§er[\, 6. (5 pOints) Recall that the control objective is for (33*, 9*) = (dsep, 7T / 2) to be a stable
and attractive equilibrium point of the closedloop dynamic model, While the robot
moves at a constant speed unom in the y direction. Show that (32*, 6*) = (dsep, fir/2) are the two distinct equilibrium points for the closed—
loop dynamic model of the robot. ...
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 Fall '09

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