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Evaluation of inertial devices for the control of large, flexible, space-based telerobotic armsInertial devices, including sensors and actuators, offer the potential of improving the tracking of telerobotic commands for space-based robots by smoothing payload motions and suppressing vibrations. In this paper, inertial actuators (specifically, torque-wheels and reaction-masses) are studied for that potential application. Batch simulation studies are presented which show that torque-wheels can reduce the overshoot in abrupt stop commands by 82 percent for a two-link arm. For man-in-the-loop evaluation, a real-time simulator has been developed which samples a hand-controller, solves the nonlinear equations of motion, and graphically displays the resulting motion on a computer workstation. Currently, two manipulator models, a two-link, rigid arm and a single-link, flexible arm, have been studied. Results are presented which show that, for a single-link arm, a reaction-mass/torque-wheel combination at the payload end can yield a settling time of 3 s for disturbances in the first flexible mode as opposed to 10 s using only a hub motor. A hardware apparatus, which consists of a single-link, highly flexible arm with a hub motor and a torque-wheel, has been assembled to evaluate the concept and is described herein.
Document ID
19930009650
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Montgomery, Raymond C.
(NASA Langley Research Center Hampton, VA, United States)
Kenny, Sean P.
(NASA Langley Research Center Hampton, VA, United States)
Ghosh, Dave
(Lockheed Engineering and Sciences Co. Hampton, VA., United States)
Shenhar, Joram
(Lockheed Engineering and Sciences Co. Hampton, VA., United States)
Date Acquired
September 6, 2013
Publication Date
February 1, 1993
Publication Information
Publication: The Fifth NASA(DOD Controls-Structures Interaction Technology Conference, Part 1
Subject Category
Mechanical Engineering
Accession Number
93N18839
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
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