Page 927 - The Mechatronics Handbook

0066_Frame_C30 Page 38 Thursday, January 10, 2002 4:44 PM

Target Sensitivity Singular Values at Output
0

−5

−10
Singular Values (dB) −15

−20

−25

−30

−35
−1 0 1 2
10 10 10 10
Frequency (rad/sec)
−1
FIGURE 30.14 PUMA 560 robotic manipulator target sensitivity S KF = [I + G KF ] singular values.

Target Comp Sensitivity Singular Values at Output
10

5

0
Singular Values (dB) −5

−10

−15

−20
−1 0 1 2
10 10 10 10
Frequency (rad/sec)
−1
FIGURE 30.15 PUMA 560 robotic manipulator target complementary sensitivity T KF = G KF [I + G KF ] singular
values.

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