Question

what is enclosed boundary of end effector?n​

Answer 1

Answer:

HEY MATE

ENCLOSED

in closed-loop case the system input is computed by controller, so for applying the actuator constraints instead of defining the load coefficient we put a constraint on the controller output such that: if controller output does not violate the actuator constraint the system input is equal to controller output otherwise it is equal to the bounds of actuator constraints. The accuracy constraint is checked by the distance between desired trajectory and actual trajectory which must not violate the accuracy constraint ( R p ). The algorithm used for finding MLCC in closed-loop case is shown in Fig. 4. By applying the proposed algorithm for closed-loop plant the maximum allowable load computed as m load = 4 . 51kg, meanwhile the maximum allowable loop for open loop in three iteration find as m load = 3 . 63kg. The simulation results are shown in Figs. 5–10. The parameters used in simulation are given in Tables I and ...

Answer 2

Answer:

ENCLOSED

in closed-loop case the system input is computed by controller, so for applying the actuator constraints instead of defining the load coefficient we put a constraint on the controller output such that: if controller output does not violate the actuator constraint the system input is equal to controller output otherwise it is equal to the bounds of actuator constraints. The accuracy constraint is checked by the distance between desired trajectory and actual trajectory which must not violate the accuracy constraint ( R p ). The algorithm used for finding MLCC in closed-loop case is shown in Fig. 4. By applying the proposed algorithm for closed-loop plant the maximum allowable load computed as m load = 4 . 51kg, meanwhile the maximum allowable loop for open loop in three iteration find as m load = 3 . 63kg.