A robot arm called ISAC (Intelligent Soft Arm Control) can be used as
part of a system to feed people with disabilities (see figure below). The
control system guides the spoon to the food and then to a position near
the person's mouth. The arm uses a special pneumatically controlled
actuator called a rubbertuator. Rubbertuators consist of rubber tubes
covered with fiber cord. The actuator contracts in length when
pneumatic pressure is decreascd. This expansion and contraction in
length can drive a pulley or other device. A video camera provides the
sight for the robot and the tracking loop. Assume a simplified block
diagram with necessary values in empty blocks) for regulating the
spoon at a distance from the mouth,
10
CO3
K
Desire
Controller
Robotar
acest
TER
FIGURE P10.12 Sont Arm position control system block diagram
Determine the following
a. Draw by hand a bode plot using asymptotic approximations for
magnitude and phase
b. Gain margin and phase margin
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Answer:
yes because he is a robot
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