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0066_Frame_C30 Page 42 Thursday, January 10, 2002 4:45 PM

Response to Step Reference Command for θ
1
1.2

1

0.8

Outputs (deg) 0.6

0.4

0.2

0

−0.2
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (seconds)
FIGURE 30.18 PUMA 560 outputs: response to θ 1 reference command.

Response to Step Reference Command for θ
1
0.6

0.4

0.2

Controls (lb–ft) −0.2 0

−0.4

−0.6

−0.8
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (seconds)

FIGURE 30.19 PUMA 560 controls: response to θ 1 reference command.
Response to ΘΘ ΘΘ Step Reference Command
11 1 1
The response to a unit step θ 1 command is plotted in Fig. 30.18. As expected, θ 1 follows the step command
well, with no overshoot and settling in about 1.6 s. The associated θ 2 response is small, indicating little
cross coupling in the final closed loop system. The corresponding controls are plotted in Fig. 30.19. They
are acceptable in size.

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