Robot Manipulators - Waterloo Maple
homogeneous position vectors. They simply allow for the transformations to be written and computed in a compact form. The first three elements of a homogeneous position vector are the components of the corresponding position vector and the fourth element is 1. By introducing a new notation to represent homogeneous vectors, Eq. (21) can be ...
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Nodal and Loop Analysis - Waterloo Maple
www.maplesoft.comThe circuit in figure 2 consists of multiple elements. We can analyze it with KVL. Firgure 2: KVL Analysis of a Circuit The loop analysis of this circuit element is in a clockwise direction. The loop encounters the negative polarity of A, the positive polarity of B and the positive polarity of C if analyzed in a clockwise direction.
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www.maplesoft.comTorque and Newton's Second Law for Rotation Torque, also known as the moment of force, is the rotational analog of force. This word originates from the Latin word torquere meaning "to twist". In the same way that a force is necessary to change a particle or object's state of motion, a torque is necessary to change
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PID Control - Waterloo Maple
www.maplesoft.cominput and have control over the response characteristics. Once again, similar to the case of P control for a second order system, since all the response specifications depend on the controller gain , it is not possible to control them independently. For example, it is not possible to reduce the rise time and maximum overshoot simultaneously.
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www.maplesoft.comHarmonic excitation refers to a sinusoidal external force of a certain frequency applied to a system. The response of a system to harmonic excitation is a very important topic because it is encountered very commonly and also covers the concept of resonance. Resonance occurs
Transfer Functions, Poles and Zeros - Waterloo Maple
www.maplesoft.comThe step response of the transfer function can be written as This can be expanded to get The first term on the RHS is an impulse response and second term is a step response. Unit impulse response plots for some different cases
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