... ofthe closed-loop equation is an equilibrium.5. Consider the 3- DOF Cartesian robot from Example 3. 4 (cf. page 69) il-lustrated in Figure 3. 5. It dynamic model is given by(m1+ m2+ m 3 )¨q1+(m1+ ... control6.1 Robots without Gravity Term 1 43 We present next an analysis of PD control for n-DOF robot manipulators.The behavior of an n-DOF robot in closed-loop with PD control is deter-mined by ... International Conference on Robotics and Automa-tion, Philadelphia, PA., pp. 133 5– 134 0, April.Problems1. Consider the PD control with gravity compensation for robots. Let qd(t)be the desired...