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Compare and contrast an optical incremental encoder against a potentiometer by giving the advantages and disadvantages for an application involving the sensing of a rotatory motion.
A schematic diagram for the servo control loop of one joint of a robotic manipulator is given in Figure P6.49.The motion command for each joint of the robot is generated by the robot controller, in accordance with the required trajectory. An optical incremental encoder is used for both position and velocity feedback in each servo loop. Note that for a six-degree-of freedom robot, there will be six such servo loops. Describe the function of each hardware component shown in the figure and explain the operation of the servo loop.
FIGURE P6.49
After several months of operation, the motor of one joint of the robot was found to be faulty. An enthusiastic engineer quickly replaced the motor with an identical one without realizing that the encoder of the new motor was different. In particular, the original encoder generated 200 pulses/rev whereas the new encoder generated 720 pulses/rev. When the robot was operated, the engineer noticed an erratic and unstable behavior at the repaired joint.Discuss reasons for this malfunction and suggest a way to correct the situation.
a curved rectangular bar has a mean radius of 6 in and cross section width b2.5 in and depth h 1.5 in. 1. determine the
5/112 The beam is subjected to an elliptical load distribu- tion and the point loads shown. For what value of the force P will the reaction at B go to zero?
a centrifugal fan is to be used to take a flue gas at rest zero velocity and at a temperature of 352.6 k and a pressure
The vapour has 5 K of superheat at entry to the compressor.In each case calculate the C.O.P.(ref.) and the refrigerating effect per kg. What would be the C.O.P.(ref.) of a reversed Carnot cycle operating between the same saturation temperatures?
air enters a 0.6-m-diameter fan at 16c105kpa with a volumetric flow rate of 0.35m3s. assuming ideal gas behavior
you have a desuperheater that has a steady-flow is an adiabatic mixing process that mixes superheated water vapor with
the simple steam power cycle in prob 4.23 in modified in the following way. steam entering the turbine is expanded to
a thin-flat plate having a length of l 10 cm is heated by a constant-heat flux from the bottom and cooled by an air
The electrons in an atom which rotate about the nucleus possess what kind of energy?
An A/D converter is to be supplied for an experimental transducer that has a dynamic range of 45 dB and a maximum voltage of 90 mV. Determine the number of bits for the converter to ensure a resolution of ±0.2 dB at the 0 dB condition.
a mass of 10 kg is vertically accelerated from rest to 10 ms through a height of 100 m. the internal energy of the mass
what equal monthly invesmet is required over a 50 year period to achieve a balance of 2600000 in an investment account
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