{"title":"On the Role of Inertial Actuators in Suppressing the Vibrations of a One-Link Robot Arm","authors":"R. Montgomery","doi":"10.1109/IRSSE.1991.658940","DOIUrl":null,"url":null,"abstract":"and simulation studies to determine the role of inertial actuators, both torque-wheel actuators and linear, proof-mass actuators, in suppressing the vibrations of a one-link telerobotic arm. The task of arresting the motion of the arm was studied. The goal was to maintain a .7 damping in arresting the arm. The system is compared with a design using only a hub-motor. comparison, the inertial components enable a reduction of peak torque of the hub motor of 45 percent to accomplish the same arresting motion characteristics. This paper presents results of analytic","PeriodicalId":130077,"journal":{"name":"Proceedings Third Annual Conference on Intelligent Robotic Systems for Space Exploration","volume":"51 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1991-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings Third Annual Conference on Intelligent Robotic Systems for Space Exploration","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IRSSE.1991.658940","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
and simulation studies to determine the role of inertial actuators, both torque-wheel actuators and linear, proof-mass actuators, in suppressing the vibrations of a one-link telerobotic arm. The task of arresting the motion of the arm was studied. The goal was to maintain a .7 damping in arresting the arm. The system is compared with a design using only a hub-motor. comparison, the inertial components enable a reduction of peak torque of the hub motor of 45 percent to accomplish the same arresting motion characteristics. This paper presents results of analytic
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