Robots can be used in manufacturing and assembly operations that require accurate, fast, and versatile manipulation....

Robots can be used in manufacturing and assembly operations that require accurate,
fast, and versatile manipulation. The open-loop transfer function of a direct-drive arm may
be approximated by
??(??)??(??) = ??(?? + 10)
??(?? + 3)(??2 + 4s + 8)
a) Determine the value of gain K when the system oscillates,
b) Calculate the roots of the closed-loop system for the K determined in part (a).

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