Examine the plots and tnd the maximum value of external moment required to always be within the safe range of angular displacement for each input type

INSTRUCTIONS TO CANDIDATES

ANSWER ALL QUESTIONS

 

Question (2)
One can rise and extend the arm until it is level with the shoulder. With the palm facing upwards, extend your forearm as far back as possible (refer to Figure 1). This is the safe limit of the angular displacement that the limb can achieve around the elbow. What is the limit of angular displacement? This limit will assist in interpreting the responses of your simulations.
Question (3)
Examine the plots and tnd the maximum value of external moment (Mx) required to always be within the safe range of angular displacement for each input type. Include in your answer example plots of the angular displacement for each case.
Question (4)
For each case in Question (3), describe the effect of each type of input (step, impulse. sinusoidal) and the reason for each response in terms of the resulting angular displacement.

Question (5)
Give all of your maximum values for Mx that you obtained along with plots of the angular displacement.
Question (6)
For each case in Question (5), describe the effect of each type of input (step, impulse. sinusoidal) and the reason for each response in ternis of the resulting angular displacement.
Question (7)
Compare the closed loop responses in Question  Lo the open loop responses in Question (3). What differences does introducing feedback have on the responses and why? lo
Using the parameters you obtained above in Question (5). repeat the simulations with the different types of inputs for the following conditions:
1) no delay time. Td = () (compared to Td = 0.02)
2) feedback gain, beta = 0 (compared to beta = 100)
3) feedback gain, beta = 200 (compared to beta = I 00).
Question (8)
For each of the cases above (1-3), describe the effect of changing the delay time and feedback gain, and state whether or not the resulting system is stable.

 

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