On the Role of Inertial Actuators in Suppressing the Vibrations of a One-Link Robot Arm

Abstract

and simulation studies to determine the role of inertial actuators, both torque-wheel actuators and linear, proof-mass actuators, in suppressing the vibrations of a one-link telerobotic arm. The task of arresting the motion of the arm was studied. The goal was to maintain a .7 damping in arresting the arm. The system is compared with a design using only a hub-motor. comparison, the inertial components enable a reduction of peak torque of the hub motor of 45 percent to accomplish the same arresting motion characteristics. This paper presents results of analytic