| 摘要 |
This invention discloses a method for controlling the position of flexible portions of a mechanical structure by attaching one or more Momentum Transfer Actuators on the flexible portions of the mechanical structure near the points whose position is to be controlled, sensing the position of the flexible portions of the mechanical structure, and, employing one or more feedback loops, to control the Momentum Transfer Actuators to cause the flexible ends of the mechanical structure to follow a desired position as a function of time. The invention also addresses the use of combined actuating and sensing devices that incorporate both a Momentum Transfer Actuator and an inertial sensor to provide acceleration, velocity, and position information to the feedback control system. |
