@inproceedings{4d2ac5dbdfb3488c847833c0e88a9fcf,
title = "Utilization of torque wheels for active damping of flexible manipulators",
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.",
author = "Farshad Khorrami and Gomez, {Alexander A.} and Hills, {Matthew D.}",
year = "1994",
language = "English (US)",
isbn = "0818653329",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Publ by IEEE",
number = "pt 3",
pages = "1816--1821",
editor = "Anon",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",
edition = "pt 3",
note = "Proceedings of the 1994 IEEE International Conference on Robotics and Automation. Part 3 (of 4) ; Conference date: 08-05-1994 Through 13-05-1994",
}