A three-axis pick-and-place application requires the precise movement of a robotic arm in three dimensional space, as shown in Figure AP10.1 for joint 2. The arm has specific linear paths it must follow to avoid other pieces of machinery. The overshoot for a step input should be less than 13%.
(a) Let Gc(s) = K, and determine the gain K that satisfies the requirement. Determine the resulting settling time (with a 2% criterion), (b) Use a lead network and reduce the settling time to less than 3 seconds.
