Robotics
Course Notes for Robot Control
Jan. 20, 1998 Homework 1. Prove that any second order system with characteristic function of the form
ax2 + bx + c = 0 is unstable if a or b or c < 0
Hint: Routh-Hueritz criteria.
Jan 20, 1998 Homework 2. For the rigid pendulum with dynamic equation:
d2
Enter this non-linear system as a block diagram using MATLAB's Simulink.
For the parameters:
T(t) = 75 ft lb, D = 0.1lb sec, J = 4.27 ft lb sec2, W = Mg = 50 lbs, L = 3 ft,
determine the system simulated response. Turn in a copy of your block diagram and the output response.