In Figure DP10.1, two robots are shown cooperating with each other to manipulate a long shaft to insert it into the hole in the block resting on the table. Long part insertion is a good example of a task that can benefit from cooperative control. The unity feedback control system of one robot joint has the process transfer function
The specifications require a steady-state error for a unit ramp input of 0.02, and the step response has an overshoot of less than 15% with a settling time (with a 2% criterion) of less than 1 second. Determine a lead lag compensator that will meet the specifications, and plot the compensated responses for the ramp and step inputs.
