Open Science Research Excellence

T C Manjunath

Publications

4

Publications

4
5606
Optimal Straight Line Trajectory Generation in 3D Space using Deviation Algorithm
Abstract:
This paper presents an efficient method of obtaining a straight-line motion in the tool configuration space using an articulated robot between two specified points. The simulation results & the implementation results show the effectiveness of the method.
Keywords:
Bounded deviation algorithm, Straight line motion,Tool configuration space, Joint space, TCV.
3
14162
Modeling and FOS Feedback Based Control of SISO Intelligent Structures with Embedded Shear Sensors and Actuators
Abstract:
Active vibration control is an important problem in structures. The objective of active vibration control is to reduce the vibrations of a system by automatic modification of the system-s structural response. In this paper, the modeling and design of a fast output sampling feedback controller for a smart flexible beam system embedded with shear sensors and actuators for SISO system using Timoshenko beam theory is proposed. FEM theory, Timoshenko beam theory and the state space techniques are used to model the aluminum cantilever beam. For the SISO case, the beam is divided into 5 finite elements and the control actuator is placed at finite element position 1, whereas the sensor is varied from position 2 to 5, i.e., from the nearby fixed end to the free end. Controllers are designed using FOS method and the performance of the designed FOS controller is evaluated for vibration control for 4 SISO models of the same plant. The effect of placing the sensor at different locations on the beam is observed and the performance of the controller is evaluated for vibration control. Some of the limitations of the Euler-Bernoulli theory such as the neglection of shear and axial displacement are being considered here, thus giving rise to an accurate beam model. Embedded shear sensors and actuators have been considered in this paper instead of the surface mounted sensors and actuators for vibration suppression because of lot of advantages. In controlling the vibration modes, the first three dominant modes of vibration of the system are considered.
Keywords:
Smart structure, Timoshenko beam theory, Fast output sampling feedback control, Finite Element Method, State space model, SISO, Vibration control, LMI
2
14859
Vibration Suppression of Timoshenko Beams with Embedded Piezoelectrics Using POF
Abstract:
This paper deals with the design of a periodic output feedback controller for a flexible beam structure modeled with Timoshenko beam theory, Finite Element Method, State space methods and embedded piezoelectrics concept. The first 3 modes are considered in modeling the beam. The main objective of this work is to control the vibrations of the beam when subjected to an external force. Shear piezoelectric sensors and actuators are embedded into the top and bottom layers of a flexible aluminum beam structure, thus making it intelligent and self-adaptive. The composite beam is divided into 5 finite elements and the control actuator is placed at finite element position 1, whereas the sensor is varied from position 2 to 5, i.e., from the nearby fixed end to the free end. 4 state space SISO models are thus developed. Periodic Output Feedback (POF) Controllers are designed for the 4 SISO models of the same plant to control the flexural vibrations. The effect of placing the sensor at different locations on the beam is observed and the performance of the controller is evaluated for vibration control. Conclusions are finally drawn.
Keywords:
Smart structure, Timoshenko beam theory, Periodic output feedback control, Finite Element Method, State space model, SISO, Embedded sensors and actuators, Vibration control.
1
10008322
Design of an Artificial Intelligence Based Automatic Task Planner or a Robotic System
Abstract:
This paper deals with the design and the implementation of an automatic task planner for a robot, irrespective of whether it is a stationary robot or a mobile robot. The aim of the task planner nothing but, they are planning systems which are used to plan a particular task and do the robotic manipulation. This planning system is embedded into the system software in the computer, which is interfaced to the computer. When the instructions are given using the computer, this is transformed into real time application using the robot. All the AI based algorithms are written and saved in the control software, which acts as the intelligent task planning system.
Keywords:
AI, Robot, Task Planner, RT, Algorithm, Specs, Controller.