Modelling and control of flexible actuators: A bond graph approach

B. Samanta; S. Devasia

doi:10.1109/IROS.1988.592414

Modelling and control of flexible actuators: A bond graph approach

B. Samanta, S. Devasia

Manufacturing Engineering

Indian Institute of Technology Kharagpur

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

6 Scopus citations

Abstract

A technique is presented to analyze the dynamics of flexible manipulators using bond graphs. The non-linear coupling of large rigid body motion and small elastic vibration of the flexible arms has been taken into consideration in the model. The concept of using distributed piezoelectric transducers for controlling elastic vibration of arms has been incorporatd in the analysis. This leads to an automated procedure for simulating the performance of manipulators. The procedure is illustrated by a planar manipulator with flexible arms.

Original language	English
Article number	592414
Pages (from-to)	99-104
Number of pages	6
Journal	IEEE International Conference on Intelligent Robots and Systems
Volume	1988-October
DOIs	https://doi.org/10.1109/IROS.1988.592414
State	Published - 1988
Event	1988 IEEE International Workshop on Intelligent Robots and Systems: Toward the Next Generation Robot and System, IROS 1988 - Tokyo, Japan Duration: Oct 31 1988 → Nov 2 1988

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10.1109/IROS.1988.592414

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title = "Modelling and control of flexible actuators: A bond graph approach",

abstract = "A technique is presented to analyze the dynamics of flexible manipulators using bond graphs. The non-linear coupling of large rigid body motion and small elastic vibration of the flexible arms has been taken into consideration in the model. The concept of using distributed piezoelectric transducers for controlling elastic vibration of arms has been incorporatd in the analysis. This leads to an automated procedure for simulating the performance of manipulators. The procedure is illustrated by a planar manipulator with flexible arms.",

author = "B. Samanta and S. Devasia",

note = "Publisher Copyright: {\textcopyright} 1988 by the Institute of Electrical and Electronics Engineers, Inc. (IEEE).; 1988 IEEE International Workshop on Intelligent Robots and Systems: Toward the Next Generation Robot and System, IROS 1988 ; Conference date: 31-10-1988 Through 02-11-1988",

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AU - Devasia, S.

PY - 1988

Y1 - 1988

N2 - A technique is presented to analyze the dynamics of flexible manipulators using bond graphs. The non-linear coupling of large rigid body motion and small elastic vibration of the flexible arms has been taken into consideration in the model. The concept of using distributed piezoelectric transducers for controlling elastic vibration of arms has been incorporatd in the analysis. This leads to an automated procedure for simulating the performance of manipulators. The procedure is illustrated by a planar manipulator with flexible arms.

AB - A technique is presented to analyze the dynamics of flexible manipulators using bond graphs. The non-linear coupling of large rigid body motion and small elastic vibration of the flexible arms has been taken into consideration in the model. The concept of using distributed piezoelectric transducers for controlling elastic vibration of arms has been incorporatd in the analysis. This leads to an automated procedure for simulating the performance of manipulators. The procedure is illustrated by a planar manipulator with flexible arms.

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DO - 10.1109/IROS.1988.592414

M3 - Conference article

AN - SCOPUS:64949084657

SN - 2153-0858

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JO - IEEE International Conference on Intelligent Robots and Systems

JF - IEEE International Conference on Intelligent Robots and Systems

M1 - 592414

Y2 - 31 October 1988 through 2 November 1988

ER -

Modelling and control of flexible actuators: A bond graph approach

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