Active control of flexible robot arms using the concept of intelligent structures

Biswanath Samanta

doi:10.1109/IROS.1990.262517

Active control of flexible robot arms using the concept of intelligent structures

Biswanath Samanta

Manufacturing Engineering

Indian Institute of Technology Kharagpur

Research output: Contribution to journal › Conference article › peer-review

4 Scopus citations

Abstract

A two-level control scheme is presented for lightweight, flexible robot arms; the first based on rigid body motion and the other for suppressing structural vibrations. The gross motion is controlled through a combined feedforward and feedback action. The compensator for elastic vibrations is designed using the concept of 'Intelligent' structures. The algorithm is based on independent modal space control (IMSC) leading to the design of decoupled modal controllers from which actual compensating inputs are synthesized. The procedure is illustrated by a two-link flexible manipulator. Simulation results show the effectiveness of the proposed approach and its scope for an interactive evaluation of system performance.

Original language	English
Article number	262517
Pages (from-to)	941-947
Number of pages	7
Journal	IEEE International Conference on Intelligent Robots and Systems
Volume	1990-July
DOIs	https://doi.org/10.1109/IROS.1990.262517
State	Published - 1990
Event	1990 IEEE International Workshop on Intelligent Robots and Systems, IROS 1990 - Tsuchiura, Ibaraki, Japan Duration: Jul 3 1990 → Jul 6 1990

Scopus Subject Areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

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10.1109/IROS.1990.262517

Cite this

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abstract = "A two-level control scheme is presented for lightweight, flexible robot arms; the first based on rigid body motion and the other for suppressing structural vibrations. The gross motion is controlled through a combined feedforward and feedback action. The compensator for elastic vibrations is designed using the concept of 'Intelligent' structures. The algorithm is based on independent modal space control (IMSC) leading to the design of decoupled modal controllers from which actual compensating inputs are synthesized. The procedure is illustrated by a two-link flexible manipulator. Simulation results show the effectiveness of the proposed approach and its scope for an interactive evaluation of system performance.",

author = "Biswanath Samanta",

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AB - A two-level control scheme is presented for lightweight, flexible robot arms; the first based on rigid body motion and the other for suppressing structural vibrations. The gross motion is controlled through a combined feedforward and feedback action. The compensator for elastic vibrations is designed using the concept of 'Intelligent' structures. The algorithm is based on independent modal space control (IMSC) leading to the design of decoupled modal controllers from which actual compensating inputs are synthesized. The procedure is illustrated by a two-link flexible manipulator. Simulation results show the effectiveness of the proposed approach and its scope for an interactive evaluation of system performance.

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T2 - 1990 IEEE International Workshop on Intelligent Robots and Systems, IROS 1990

Y2 - 3 July 1990 through 6 July 1990

ER -

Active control of flexible robot arms using the concept of intelligent structures

Abstract

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