A small service robot named RoboLine is helping a child draw…
A small service robot named RoboLine is helping a child draw a perfectly straight line on a whiteboard. To do this, its single actuated joint must accurately follow a target point that moves along the line. At a certain moment, RoboLine is adjusting its joint angle toward the next target orientation. The following conditions are observed: the current position is 0.8 rad, while the target position is 1.0 rad. The joint is currently moving backward at −0.3 m/s, while the target velocity is 0 because the robot wants to stop precisely at the target. The proportional gain is 150 and derivative gain is 20. For the given PD controller,
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