I would like to dampen the physical oscillations that occur when you move an object like the arm of a robot. Of course, simply ramping up and then down the speed of the motors is a big help over suddenly starting and stopping the movement, but I would like some sort of active dampening system.
I know there are systems for dampening oscillations in structures. I've seen shows describing the systems put at the top of buildings in earthquake zones. Sensors detect swaying, and move a large weight to stop the swaying. I imagine such a system would be useful for robotics, perhaps moving a counterweight exactly like the earthquake system, or as a feedback system for the main actuator motors.
On the internet, I've found articles on dampening objects hung by cables, but nothing on more rigid structures.
Can anyone recommend some reading or perhaps low-cost (i.e. not million dollar) projects which use such a system?
Joe Dunfee