Inertia

About: Inertia is a research topic. Over the lifetime, 12006 publications have been published within this topic receiving 164291 citations.

Robot control apparatus

Abstract: A robot control apparatus stores the result of operation on the inertia term of an equation of motion depending upon the position of the robot arm, so that the operation period on the inertia term is set longer than the operation period on the drive torque. In controlling the robot with the same precision, therefore, the drive torque can be calculated in a short period of operation time.

Distortions of inertia waves in a rotating fluid cylinder forced near its fundamental mode resonance

Abstract: A series of experimental observations is presented of a flow in which inertial oscillations are excited. The homogeneous fluid is contained in a completely filled right circular cylinder. The cylinder is spun about its axis of symmetry and a small ‘forced precession’ (or coning motion) is impulsively started. The flow is visualized by an electrolytic dyeline method. The mathematical problem for linear inviscid inertial oscillations in this system, although ill-posed in general, admits a solution in terms of wave modes for the specific boundary conditions considered here. The experiments show that while this linear inviscid theory provides some facility for predicting the flow structure at early times, the flow rapidly and irreversibly distorts away from the predicted form. This behaviour is seen as a precursor to some of the more dramatic breakdowns described by previous authors, and it may be pertinent to an understanding of the breakdowns reported in experiments on elliptical flow instabilities.

Study of the effect of leg inertia in Stewart platforms

Abstract: The inertia effect of all the leg rotations in a Stewart platform is studied. The dynamics of the legs are decoupled from that of the mobile plate so that the actuating force for moving the legs can be computed separately from that for moving the mobile plate. This enables the evaluation of the effect of leg inertia. Dynamic mobile simulation based on the decoupled dynamics formulation is discussed. >

Humanoid and Human Inertia Parameter Identification Using Hierarchical Optimization

Abstract: We propose a method for estimation of humanoid and human links’ inertial parameters. Our approach formulates the problem as a hierarchical quadratic program by exploiting the linear properties of rigid body dynamics with respect to the inertia parameters. In order to assess our algorithm, we conducted experiments with a humanoid robot and a human subject. We compared ground reaction forces and moments estimated from force measurements with those computed using identified inertia parameters and movement information. Our method is able to accurately reconstruct ground reaction forces and force moments. Moreover, our method is able to estimate correctly masses of the robots links and to accurately detect additional masses placed on the human subject during the experiments.