Answer Happy

Q One of the most important applications of industrial robots is that of welding. Many such robots use a vision system measure the performance of the welding. (Figure below) shows a simplified block diagram of such a system. The well process is approximated by a second-order under damped system, the vision system by a unity transfer function, and t controller is assumed to be of the integrator type. 1) Determine the range of values of K for which the closed-loop system is stable. 2) Determine the steady state error for r(t) ast at input signal. Controller Wire welding process Desired welding+ R(s) E(s) 1 K Uts) Actual welding Y(s) G,(s) S (5+3)(3+4) Vision system F(s)-1