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

A new approach called the 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. The 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