Scott Pawlikowski
Robot Control
Homework 1
1/20/98
The following parameters were given for a single degree of freedom pendulum
|
Parameter |
Value |
|
T |
75 ft lb |
|
D |
.1 lb/s |
|
J |
4.27 ft lb s |
|
MG |
50 lb |
|
L |
3.0 ft |
We created the following block diagram using Simulink to model the nonlinear system.
Due to the large value
of input torque, the angle goes off into infinity.