Assignment

The combination of all these elements produces a mathematical model for the Elbow Control System

for the Robot Arm. Using this description as a basis, follow the steps outlined below to complete the

first part of your assignment for this course:

Mathematical Modelling & Continuous Time Simulation

1. Use the description given above to derive the state space model for the Robot Arm System.

2. Use this model and the parameter values given in the Appendix A to produce an equation or

script based simulation of the Robot Arm System in Matlab.

3. Employ a suitable initial conditions and numerical integration solver with a suitable step-size

in the simulation of your system. Justify your choice of the initial conditions, solver and step-

size. Do not use the in-built Matlab integration functions.

4. Analyse the dynamic response of the system. Do you think this a good design for the Elbow

Control System? Explain your answer.

Block Diagram & Validation

5. Using basic, commonly used blocks in Simulink, construct a block diagram simulation of the

Robot Arm System.

6. Use the responses from this block diagram simulation to validate your Matlab model from steps

(1) & (2) and simulation responses from step (3).