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Question: A robot arm has natural frequency of 10 Hz and a damping ratio of 0.3 for motions in the vertical plane. Vertical position is denoted by x1 and vertical velocity by x2. The spectral density of velocity disturbances is 10. Calculate and plot P(t) and K(t) for a time interval of 0.2 sec, assuming P(0) = 0 and using the conventional Kalman-Bucy filter equations for the following measurement:
(a) Velocity only, R = 1.
(b) Position only, R = 1.
(c) Velocity and position, r11 = r22 = 1.
The head of a maul is made of steel and is 3 in. in diameter and 5 in. long. It has a wood handle 1 in. in diameter and 3 ft long. The unit weight of the wood is 80 pcf. Calculate the distance from the end of the handle to the center of gravity.
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Describe the difficulties that may arise when building a system from its components. What particular problems might occur when a system is built on a host computer for some target machine?
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