Digital controller implementation for flexible manipulators using the concept of intelligent structures

Research output: Contribution to book or proceedingConference articlepeer-review

2 Scopus citations

Abstract

A new approach called Travelling Independent Modal Space Control (TIMSC) is presented for the active control of flexibility in lightweight manipulator systems using the concept of Intelligent Structures. A procedure for optimal actuator placement in TIMSC is outlined. This approach enhances actuator utilization and limits control spillover effects. The concept is applied on a single link manipulator arm using discrete time linear quadratic steady state optimal control algorithm. Actuator saturation effect is taken into account. The effectiveness of TIMSC over Independent Modal Space Control (IMSC) and Modified IMSC (MIMSC) is clearly highlighted in simulation results.

Original languageEnglish
Title of host publicationIntelligence for Mechanical Systems
PublisherIEEE
Pages952-958
Number of pages7
ISBN (Print)078030067X
StatePublished - 1991
EventIEEE/RSJ International Workshop on Intelligent Robot and Systems '91 -
Duration: Nov 3 1991Nov 5 1991

Publication series

NameIntelligence for Mechanical Systems
Volume2

Conference

ConferenceIEEE/RSJ International Workshop on Intelligent Robot and Systems '91
Period11/3/9111/5/91

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