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Unformatted text preview: inner loop) such that the %overshoot ( m p ) is 5% and the rise time ( t r ) is 0.5 second. 2) Design the position control such that there is no overshoot, the settling time ( t s ) is 0.9 second and the steady-state position error ( e ss ) in response to a step is zero. + _ + _ ? ( ): Position controller > outer-loop controller ? ( ): Force controller -> inner-loop controller Fig. 1 Assembly robot (Courtesy of FANUC Inc. Japan)...
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This note was uploaded on 09/14/2011 for the course ME 360 taught by Professor Soojeon during the Winter '11 term at Waterloo.
- Winter '11