Control of nonholonomic robotic load

Powerball® is a commercial name for gyroscopic device that is marketed as a wrist exerciser. The device has rotor with two unactuated degrees of freedom and can be actuated with suitable rotational motion of human or robot wrist axis [1]. After substantial initial rotor's spin, the properly app...

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Bibliographic Details
Published in2008 10th IEEE International Workshop on Advanced Motion Control pp. 631 - 636
Main Authors Cafuta, Peter, Curk, Boris
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.03.2008
Subjects
Friction
Gyroscopes
Humans
Joining processes
Manipulator dynamics
Power system modeling
Robot control
Shafts
Torque
Wrist
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Summary:Powerball® is a commercial name for gyroscopic device that is marketed as a wrist exerciser. The device has rotor with two unactuated degrees of freedom and can be actuated with suitable rotational motion of human or robot wrist axis [1]. After substantial initial rotor's spin, the properly applied torque and motion about two wrist axis lead to spin-up of the rotor. Finding this torque intuitively is easy job for most peoples, but not so easy for technical consideration for example in robotics.
ISBN:1424417023
9781424417025
ISSN:1943-6572
1943-6580
DOI:10.1109/AMC.2008.4516140