1. A stepper motor is to be used to actuate one joint of a robot arm in a light duty pick and place application. The step angle of the motor is 10 degrees. For each pulse received from the pulse train source the motor rotates through a distance of one step angle.
c) For the stepper motor, a pulse train is to be generated by a motion controller. How many pulses are required to rotate the motor through three complete revolutions? If it is desired to rotate the motor at a speed of 25 rev/min, what pulse rate must be generated by the robot controller?