### A Torque Cancelling System Using the Parallel Solution Scheme

Abstract

A new torque cancelling system (TCS) that stabilizes mechanical sway in
quick-motion robots is discussed in this paper. It cancels the reaction
moment generated by the motion of an object by considering the precise
dynamics of the object and the body of the robot itself. The reaction moment
can be obtained accurately using the parallel solution scheme of inverse
dynamics, which handles the dynamics of complex robotic architectures by
modeling them with finite elements. Once the reaction moment is known,
it can be cancelled by applying an anti-torque to a torque generating device.
In this paper, the general concepts of the TCS and the parallel solution
scheme are first described. Then, some examples of torque cancelling due
to accurate calculations of dynamics are demonstrated, by showing the experimental
results carried out on a prototype TCS system. The objects used in the
experiments include rigid and flexible, outboard and inboard links, where
difficult assumptions are normally required to consider the accurate dynamics.

PDF file