The drive system for one link of a robot arm is illustrated in Figure XXXXXXXXXXThe equivalent inertia of the link and all the drive components felt at the motor shaft is I e . Gravity produces an...

The drive system for one link of a robot arm is illustrated in Figure 10.3.13. The equivalent inertia of the link and all the drive components felt at the motor shaft is I_e. Gravity produces an opposing torque that is proportional to sin θ but which we model as a constant torque Td felt at the motor shaft (this is a good approximation if the change in θ is small). Neglect friction and damping in the system. Develop the block diagram of a proportional control system using an armature-controlled motor for this application. Assume that motor rotation angle θ_m
is measured by a sensor and is related to the arm rotation angle θ by θ_m
= Nθ, where N is the gear ratio.