129


0


La.

LU. QC














LU


t.00     1.50


1.50


      2.0      2.50
TIME (SECONDS)


     2.00     2.50
TIME (SECONDS)


(a) Tracking error


Figure 7-13.


Manipulator's response: ref. = 0; dist. = 2.0 Hz sinusoid with amplitude of 50 N; I.M. frequency :
2.0 Hz


In

JC2
               1~.











 f .         .                                                 --- -- -- --


I1,0.00


Q.00


0. 50


0. 50


V~) LU LU 0

LU
C; IJJ



C"'
3
0


ot






LU

  0) 0


3.00


3.00


3.50


3.50


o: 00


I         t                           4        4.


                .           . . . .                   .        . . .


.         .     .                                               . . .;.