A robot arm called ISAC (Intelligent Soft Arm Control) can be used as part of a system to feed people with disabilities.

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A Robot Arm Called Isac Intelligent Soft Arm Control Can Be Used As Part Of A System To Feed People With Disabilities 1 (110.01 KiB) Viewed 22 times

A robot arm called ISAC (Intelligent Soft Arm Control) can be used as part of a system to feed people with disabilities. The control system guides the spoon to the food and then to a position near the person's mouth. The arm uses a special pneumatically controlled actuator called a rubbertuator. Rubbertuators consist of rubber tubes covered with fiber cord. The actuator contracts in length when pneumatic pressure is increased and expands in length when pressure is decreased. This expansion and contraction in length can drive a pulley or other device. A video camera provides the sight for the robot and the tracking loop. Assuming the system block diagram shown in Figure Q3, use frequency response techniques to determine the following i) ii) Desired spoon position R(s) + Controller 1000(s+ 0.01)(+6) s(s+20)(8 + 100) Robot arm 10 $²+10s + 29 Is the system stable? Why? Actual spoon position Figure Q3 Gain margin, phase margin, zero dB frequency, and 180° frequency [22 Marks] [CO3, PO3, C4]