Utilization of torque wheels for active damping of flexible manipulators

Farshad Khorrami, Alexander A. Gomez, Matthew D. Hills

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Utilization of inertial actuators such as torque wheels for vibration damping of a single-link flexible manipulator is considered in this paper. A decentralized control scheme is advocated for slewing and vibration suppression. The local loop around the torque wheel is closed through feedback of the accelerometer signal at the tip. Experimental results are provided to show the effectiveness of the proposed method for end-effector positioning of flexible-link manipulators. Although the experimental results reported are for a single-link flexible manipulator, the results are applicable to the multilink case. It may be shown that the dynamics from the voltage input to the torque wheel mounted at the tip to the tip position is minimum phase and hence invertible given that an inner-loop controller has been applied to stabilize the rigid-body motion.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Editors Anon
PublisherPubl by IEEE
Pages1816-1821
Number of pages6
Editionpt 3
ISBN (Print)0818653329
StatePublished - 1994
EventProceedings of the 1994 IEEE International Conference on Robotics and Automation. Part 3 (of 4) - San Diego, CA, USA
Duration: May 8 1994May 13 1994

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Numberpt 3
ISSN (Print)1050-4729

Other

OtherProceedings of the 1994 IEEE International Conference on Robotics and Automation. Part 3 (of 4)
CitySan Diego, CA, USA
Period5/8/945/13/94

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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