Experiments in two-axis vibration damping using inertial torques through momentum wheel control

In robotic systems where a micro-manipulator is mounted on the end of a long link, research has demonstrated the potential of vibration damping through inertial torques initiated by micro-manipulator modulation. In such systems, controllability concerns are raised when addressing multiple degrees of freedom, varying manipulator configurations, varying payload, and multiple long links. The paper presents experimental and theoretical results for active damping using inertial torques initiated by momentum (or torque) wheels mounted at the end of a flexible link. Such an approach provides controllability and control algorithm simplification advantages over micro-manipulator modulation methods with minimum added cost and weight. The paper presents a discussion on the advantages of torque wheel damping; conceptual, finite-element and system identification modeling results; and experimental bang-bang control results for two-degree of freedom damping under varying payloads.