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Compare and contrast an optical incremental encoder against a potentiometer by giving the advantages and disadvantages for an application involving the sensing of a rotatory motion.
A schematic diagram for the servo control loop of one joint of a robotic manipulator is given in Figure P6.49.The motion command for each joint of the robot is generated by the robot controller, in accordance with the required trajectory. An optical incremental encoder is used for both position and velocity feedback in each servo loop. Note that for a six-degree-of freedom robot, there will be six such servo loops. Describe the function of each hardware component shown in the figure and explain the operation of the servo loop.
FIGURE P6.49
After several months of operation, the motor of one joint of the robot was found to be faulty. An enthusiastic engineer quickly replaced the motor with an identical one without realizing that the encoder of the new motor was different. In particular, the original encoder generated 200 pulses/rev whereas the new encoder generated 720 pulses/rev. When the robot was operated, the engineer noticed an erratic and unstable behavior at the repaired joint.Discuss reasons for this malfunction and suggest a way to correct the situation.
3-21m for the flud power automobile lift system of figure 3-35 the air pressure equals 550 kpa gage. if the hydraulic
A closed volume of 1 m3 of air (at sea level) is heated from 20°C to 400°C. Use the values for specific heat (cv =20.786 J/molK , cp= 29.1006 J/molK) and the specific gas constant R=8.31446 J/molK
A certain automotive engine is reported to produce a torque of 540 N · m at 3000 rpm. What power dynamometer would be necessary to test this engine? Express in both horsepower and kilowatts.
a photomicrograph was taken at a magnification of 500x and it was determined that the average number of grains per
An AC induction machine has six poles and is designed for 60-Hz, 240-V (rms) operation. When the machine operates with 10 percent slip, it produces 60 N-m of torque.
Consider a spherical container of inner radius r1, outer radius r2, and thermal conductivity k. Express the boundary condition on the inner surface of the container for steady onedimensional conduction for the following cases: (a) specified tempe..
K characterizes heat transfer by natural convection from the exposed surface of the layer, esti- mate the time required to completely melt the frost. The frost may be assumed to have a mass density of 700 kg/m3 and a latent heat of fusion of 334 k..
From the analogy, show that the time dependence of the mass flux of carbon into the plate may be expressed as n''C = pC,s (DC Fe/t)1/2. Also, obtain an expression for the mass of carbon per unit area entering the iron plate over the time period t.
a water cooled spherical object of diameter 10 mm and emissivity 0.9 is maintained at 4000c. what is the net transfer
Superheated steam at 400°C and saturated water with a quality of 40% enter a mixing chamber at a pressure of 100 kPa. What is the required ratio of mass flow rate of superheated steam to mass flow rater of saturated water if at the exit to the mixing..
Find the angular velocity and angular acceleration of the pulley at an instant when the bucket is going down at a speed of 20 cm/s and has an acceleration of 4.0 m/s2.
a cold heading operation is performed to produce the head on a steel nail. the strength coefficient for this steel is
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