1]What is trajectory planning?

2]Diffrentiate two methods for trajectory planning?

3]Suggest the suitable polynomial function for the position trajectory.

4]what are step needed to design a robot trajectory?

5]A single-link robot manipulator with a rotary joint is motionless at θ=15o . It is desired to move the joint in a smooth manner to θ=75o in 3 seconds.

a)Design a cubic trajectory which accomplishes the motion and brings the manipulator to rest at the goal with zero initial velocity and zero final velocity.

b)Plot position, velocity and acceleration as function of time

6]Design a differentiable trajectory with two cubic segments, which start from the initial angular position θi(0)=20o, passes the via point θi(1)=10o and then stops at the final angular position θi(3)=60o, with zero initial velocity and zero final velocity.

X1(t) and x2(t) are two input sources. Design an OPAMP circuit which satisfies the output y(t): y(t)= 2x1(t) - 3x2(t) +2V

Design a parity bit generator and checker. A system transmits 4 bits of data. Design generator and checker in same schematic use XOR gate. DO NOT USE KMAPS. Include truth tables. I am trying to understand the problem. Include boolean expression and explain you work please. Please explain I need to Learn

Question :Design the parameters for the PI controller
urgent answer pls

For a given Direct Current (DC) Machine:
3. Draw an equivalent circuit and list down all the losses that occur in DC motors.
4. Sketch a typical torque speed curve for a series motor.
5. Propose two methods to control the torque of a DC motor.

A complete wave rectified signal of peak 18V is injected into a capacitor filter . what is the value of the regulation of the filter if the output is a tension of 17 Vcc with full load ?

A three phase transformer of 200MVA, 33kV/380kV, Yd11 is delivering nominal power at cosφ = 1.

1. Calculate the nominal primary and secondary line current.
2. Calculate the winding ratio n of this transformer.

The primary line current is 15,9A during an open circuit test. The measured power per phase is then 53kW. During a short circuit test (at nominal current), 271V primary line voltage is measured at cosφ = 0,225.

3. Calculate the total iron losses and total copper losses of this transformer.
4. Calculate the total iron losses if the transformer would be connected to 16,5kV (primary side).
5. Draw the single-phase equivalent circuit of this transformer. Give also the phase quantities of the voltages and currents and indicate what the circuit elements represent.

Please show process and computations with comments.

A load draws between 100mA and 400mA at 6V. It is receiving power from an unregulated DC power supply whose output voltage can vary between 8.5V and 12V. Design a Zener diode voltage regulator using a 6V Zener diode that regulates for diode currents greater than 4mA and has a maximum power rating of 6W. Show the circuit diagram for the completed design and specify the power rating for all components.

Z- transformation Questions

Q1: given a difference equation, how do we find unit step/ impulse response?

Q2: based on Q1, do we need to find transfer function to get output response y(z)= h(z)x(z)

Q3: is initial condition for input x(z) =0 or is it given
Example: y(z)+2z^-1 y(1) = x(z) +2zx(1) + x(0)

if given y(1) =1, and x(1) and x(0) not given
do we assume x(1) and x(0) =0?

Code a 2:4 decoder with registered out. Also write a testbench of the decoder.

Write a Verilog HDL module that has three inputs, A, B, C, and one output, Y, to implement a function that Y output is true if at least two of the inputs are false

Also, write a testbench for the function.

A type K thermocouple with a 0°C reference will monitor an oven temperature at about 300°C. Vout was solved to equal 12.209mV. But part 2 I need help with.

Part 2 asks: Extension wires of 1000ft length and 0.01ohms/ft will be used to connect to the measurement site. Determine the minimum voltage measured input impedance if the error is to be within 0.2%?
The answer given is: 9.98kohms