Faculty Publications
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Publications by NITK Faculty
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Item Model-based manipulator control and the computational cost(Institute of Advanced Scientific Research, Inc. dheep.infotel@gmail.com, 2018) Soumya, S.; Guruprasad, K.R.This paper addresses the computational cost associated with the manipulator control. Manipulator dynamics are known to be computationally intense owing to its coupled nonlinear nature. In this work we analyze the computational cost associated with a traditional nonlinear model-based control scheme of a manipulator with that of the model-based distributed control scheme. We restrict our focus on planar serial link manipulators as the coupling effects are maximum in such configurations. The computational cost associated with the model-based control and its distributed counterpart are compared as the degrees-of-freedom of the manipulator increases from two to six. © 2018, Institute of Advanced Scientific Research, Inc. All rights reserved.Item Multi-agent system inspired distributed control of a serial-link robot(Industrial Research Institute for Automation and Measurements aladan@piap.pl, 2020) Soumya, S.; Guruprasad, K.R.Inspired by the multi-agent systems, we propose a model-based distributed control architecture for robotic manipulators. Here, each of the joints of the manipulator is controlled using a joint level controller and these controllers account for the dynamic coupling between the links by interacting among themselves. Apart from the reduced computational time due to distributed computation of the control law at the joint levels, the knowledge of dynamics is fully utilized in the proposed control scheme, unlike the decentralized control schemes proposed in the literature. While the proposed distributed control architecture is useful for a general serial-link manipulator, in this paper, we focus on planar manipulators with revolute joints. We provide a simple model-based distributed control scheme as an illustration of the proposed distributed model-based control architecture. Based on this scheme, distributed model-based controller has been designed for a planar 3R manipulator and simulations results are presented to demonstrate that the manipulator successfully tracks the desired trajectory. © 2020, Industrial Research Institute for Automation and Measurements. All rights reserved.Item Model-based, Distributed, and Cooperative Control of Planar Serial-link Manipulators(Institute of Control, Robotics and Systems, 2021) Soumya, S.; Guruprasad, K.R.In this paper, we propose a novel distributed control scheme for a planar serial-link manipulator with revolute joints. The control scheme is based on the conventional model-based nonlinear control scheme that achieves linearization by feedback. A dedicated controller controls each joint of the manipulator, as in the case of the decentralized manipulator control scheme. However, in the proposed control scheme, the joint-level controllers communicate and cooperate to account for the nonlinear dynamic coupling between the links. The proposed control scheme can achieve the performance level of that of the model-based nonlinear control scheme, and at the same time, reduce the computational lead-time by distributing the computational load associated with the control law among the joint-level controllers. We design a distributed cooperative control law for a three-link planar manipulator and demonstrate its trajectory tracking performance using simulation experiments. © 2020, ICROS, KIEE and Springer.