A mechanical automation engineer is programming a high-speed robotic sorting arm on an industrial manufacturing assembly line. The base of the arm pivots at an angle (in radians) to track an item moving along a parallel linear conveyor belt located at a fixed perpendicular clearance of from the pivot.
The item moves along the belt such that its horizontal position coordinate (in meters) changes over time (in seconds) according to:
The rotational tracking angle required to maintain alignment with the item is modeled by:
- Express the angular velocity using the Chain Rule in terms of and .
- Differentiate the outer inverse trigonometric function with respect to .
- Differentiate the rational conveyor position function with respect to using the Quotient Rule.
- Determine the position and the required angular tracking velocity of the robotic actuator motor () at .