Page 1 of 4

(Case study is from Palm Palm, W. J., Modeling, Analysis, and Control of Dynamic Systems)

Handout 1

Page 2 of 4

• Develop a simplified model of the base and the arm by

neglecting the reaction forces that occur at the pivot

• When do the reaction forces become significant?

Page 3 of 4

Handout 2

• Plot the motor force versus time, and motor torque versus time,

and determine whether the motor is powerful enough

Page 4 of 4