Momentum management in redundant manipulators for vibration suppression
Abstract
This research project dealt with the development of control methodologies which would effectively use existing inertial devices as control actuators in the manipulation of Remote Manipulator System (RMS)-type robotic arms. The existing devices proposed to be investigated are the Torque-Wheel (TW) and the Proof-Mass actuator (PM). This report presents a succinct summary of our results.
- Publication:
-
NASA STI/Recon Technical Report N
- Pub Date:
- August 1993
- Bibcode:
- 1993STIN...9410821B
- Keywords:
-
- Actuators;
- Control Systems Design;
- Manipulators;
- Momentum Transfer;
- Remote Manipulator System;
- Robot Arms;
- Robot Control;
- Vibration Damping;
- Computerized Simulation;
- Linear Quadratic Regulator;
- Linear Systems;
- Mathematical Models;
- Redundancy;
- Robot Dynamics;
- Vibration Effects;
- Mechanical Engineering