Page 932 - The Mechatronics Handbook

0066_Frame_C30 Page 43 Thursday, January 10, 2002 4:45 PM

Response to Step Reference Command for θ
2
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 30.20 PUMA 560 outputs: response to θ 2 reference command.

Response to Step Reference Command for θ
2
0.1

0.05

0
Controls (lb–ft)

−0.05

−0.1

−0.15
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (seconds)

FIGURE 30.21 PUMA 560 controls: response to θ 2 reference command.
Response to ΘΘ ΘΘ Step Reference Command
22 2 2
The response to a unit step θ 2 command is plotted in Fig. 30.20. As expected, θ 2 follows the step command
well, with no overshoot and settling in about 3 s. The associated q 1 response is small, indicating little
cross coupling in the final closed loop system. The corresponding controls are plotted in Fig. 30.21. They
are acceptable in size.

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