This research project dealt with the development of control methodologies which would effectively use existing inertial devices as control actuators in the manipulation of Remote Manipulator System (RMS)-type robotic arms. The existing devices proposed to be investigated are the Torque-Wheel (TW) and the Proof-Mass actuator (PM). This report presents a succinct summary of our results.


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    Title :

    Momentum management in redundant manipulators for vibration suppression


    Contributors:

    Publication date :

    1993-08-31


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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