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

Anand Vaz; Biswanath Samanta

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

Anand Vaz
, Biswanath Samanta

Manufacturing Engineering

Indian Institute of Technology Kharagpur

Research output: Contribution to book or proceeding › Conference article › peer-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 language	English
Title of host publication	Intelligence for Mechanical Systems
Publisher	IEEE
Pages	952-958
Number of pages	7
ISBN (Print)	078030067X
State	Published - 1991
Event	IEEE/RSJ International Workshop on Intelligent Robot and Systems '91 - Duration: Nov 3 1991 → Nov 5 1991

Publication series

Name	Intelligence for Mechanical Systems
Volume	2

Conference

Conference	IEEE/RSJ International Workshop on Intelligent Robot and Systems '91
Period	11/3/91 → 11/5/91

Scopus Subject Areas

General Engineering

Cite this

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title = "Digital controller implementation for flexible manipulators using the concept of intelligent structures",

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.",

author = "Anand Vaz and Biswanath Samanta",

year = "1991",

language = "English",

isbn = "078030067X",

series = "Intelligence for Mechanical Systems",

publisher = "IEEE",

pages = "952--958",

booktitle = "Intelligence for Mechanical Systems",

note = "IEEE/RSJ International Workshop on Intelligent Robot and Systems '91 ; Conference date: 03-11-1991 Through 05-11-1991",

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TY - GEN

T1 - Digital controller implementation for flexible manipulators using the concept of intelligent structures

AU - Vaz, Anand

AU - Samanta, Biswanath

PY - 1991

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N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/0026274623

M3 - Conference article

AN - SCOPUS:0026274623

SN - 078030067X

T3 - Intelligence for Mechanical Systems

SP - 952

EP - 958

BT - Intelligence for Mechanical Systems

PB - IEEE

T2 - IEEE/RSJ International Workshop on Intelligent Robot and Systems '91

Y2 - 3 November 1991 through 5 November 1991

ER -

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

Abstract

Publication series

Conference

Scopus Subject Areas

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