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Robot vibration control using inertial damping forcesThe suppression is examined of the vibration of a large flexible robot by inertial forces of a small robot which is located at the tip of the large robot. A controller for generating damping forces to a large robot is designed based on the two time scale mode. The controller does not need to calculate the quasi-steady state variables and is efficient in computation. Simulation results show the effectiveness of the inertial forces and the controller designed.
Document ID
19900016036
Acquisition Source
Legacy CDMS
Document Type
Contractor Report (CR)
Authors
Lee, Soo Han (Georgia Inst. of Tech. Atlanta, GA, United States)
Book, Wayne J. (Georgia Inst. of Tech. Atlanta, GA, United States)
Date Acquired
September 6, 2013
Publication Date
January 1, 1989
Subject Category
Mechanical Engineering
Report/Patent Number
NASA-CR-186808
NAS 1.26:186808
Accession Number
90N25352
Funding Number(s)
CONTRACT_GRANT: NAG1-623
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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