Analytic and simulation studies on the use of torque-wheel actuators for the control of flexible robotic armsThis paper presents results of analytic and simulation studies to determine the effectiveness of torque-wheel actuators in suppressing the vibrations of two-link telerobotic arms with attached payloads. The simulations use a planar generic model of a two-link arm with a torque wheel at the free end. Parameters of the arm model are selected to be representative of a large space-based robotic arm of the same class as the Space Shuttle Remote Manipulator, whereas parameters of the torque wheel are selected to be similar to those of the Mini-Mast facility at the Langley Research Center. Results show that this class of torque-wheel can produce an oscillation of 2.5 cm peak-to-peak in the end point of the arm and that the wheel produces significantly less overshoot when the arm is issued an abrupt stop command from the telerobotic input station.
Document ID
19920061920
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Montgomery, Raymond C. (NASA Langley Research Center Hampton, VA, United States)
Ghosh, Dave (Lockheed Engineering and Sciences Co. Hampton, VA, United States)
Kenny, Sean (NASA Langley Research Center Hampton, VA, United States)