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Unformatted text preview: 1 INTRODUCTION 1 1 INTRODUCTION The material in these lecture notes is used in a junior- and senior-level course at MIT’s Department of Mechanical Engineering, entitled Design of Electromechanical Robotic Sys- tems . The key ingredient in this course- and what differentiates it from many other related courses- is the uncertainty that is encountered whenever a built system is actually installed in the field. We may find uncertainty in the operating environment, whether it is a windy airspace, a bumpy road, or an obstacle-strewn factory ﬂoor. We also find uncertainty in the parameters that define a system, for example, masses and stiffnesses and dampings, torque constants, and physical size. Finally, since complex electromechanical systems involve sensors and actuators, we have to acknowledge uncertainty in measurement and feedback control. Ultimately, such systems are meant to accomplish specific objectives, and the designer’s task is to achieve robustness, performance, and cost-effectiveness...
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- Spring '05