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ME 640 Assignment Module 3 Details

The document outlines the assignment details for ME 640: Robotics and Robot Applications, which is due on April 11, 2025, and carries a total of 35 marks. It includes four questions related to cubic trajectories, damped spring-mass systems, control laws for nonlinear systems, and PD controller design, each requiring specific calculations and proofs. Students are encouraged to discuss the assignment with peers and consult external sources, but must submit their own original work.

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shishantvimal999
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36 views1 page

ME 640 Assignment Module 3 Details

The document outlines the assignment details for ME 640: Robotics and Robot Applications, which is due on April 11, 2025, and carries a total of 35 marks. It includes four questions related to cubic trajectories, damped spring-mass systems, control laws for nonlinear systems, and PD controller design, each requiring specific calculations and proofs. Students are encouraged to discuss the assignment with peers and consult external sources, but must submit their own original work.

Uploaded by

shishantvimal999
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

ME 640: Robotics and Robot Applications

Jan-May 2025
Published: April 07, 2025
Assignment: Module 3 Due: April 11, 2025

General Guidelines

1. This assignment is of 35 Marks and carries weightage for FINAL evaluation of ME 640.
2. Please submit handwritten pages after Class on April 11, 2025. Submission as posts on MS Teams
or email submission would not be entertained.
3. You may discuss with other students about this assignment. Consult outside sources such as the Internet
and take help to learn the material. Finally, the solutions you submit should be your own work, not
copied from a peer or an abridged outline from any solution manual.

Q1. A single cubic trajectory is given by 𝜃 𝑡 =  10   + 45𝑡 * −  30𝑡 - and is used over the time interval
from t = 0 to t = 1. Plot the position, velocity, and acceleration of the joint as a function of time.
Find the starting and final positions, velocities, and accelerations.
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Q2. Consider the damped spring-mass system: block of mass


𝑚 attached to a spring of stiffness 𝑘 and subject to friction
of coefficient b with the addition of an actuator with which
it is possible to apply a force 𝑓 as shown in Figure 1.
Parameter values: 𝑚 = 1, 𝑏 = 4 and 𝑘 = 5. The system
is also known to possess an un-modeled resonance at
𝜔345   =  6.0 radians/second.

Determine the gains 𝑘8  and 𝑘8  that will critically damp the


system with as high a stiffness as is reasonable.
Fig. 1.

Q3. Consider a position-regulation system that (without loss of generality) attempts to maintain 𝛩: = 0.
Prove that the control law
𝜏 =   −𝐾= 𝛩 − 𝑀 𝛩 𝐾8  𝛩   + 𝐺 𝛩
yields an asymptotically stable nonlinear system. Consider 𝐾8   to be of the form 𝐾8 = 𝑘@ 𝐼@  where
𝑘@  is a scalar and 𝐼@    is the 𝑛  ×  𝑛 identity matrix.

[Hint: Use Lyapunov’s method, considering a suitable Lyapunov candidate function.]


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Q4. Consider a 1-DOF system described by the equation of motion, 4𝑥 + 20𝑥   + 25𝑥   =  𝑓.
Design a PD controller that achieves critical damping with a closed-loop stiffness of 36. Assume
that the desired position is 𝑥: = 0.

[Hint: Let 𝑓   =   −𝑘8 𝑥  – 𝑘= 𝑥, and determine the gains 𝑘8 and 𝑘=  for critical damping.]
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