TY - GEN
T1 - Network based control of 2-DOF serial flexible link manipulator
AU - Sahu, Umesh Kumar
AU - Patra, Dipti
AU - Subudhi, Bidyadhar
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/19
Y1 - 2017/12/19
N2 - As a new generation of robot, lightweight flexible manipulator presents various applications in the field of advanced medical, modern industry, space and defense application, etc. Nowadays, these applications need control of flexible-link manipulator (FLM) from a distance, so the use of the network is essential for receiving the sensor signal and transmitting actuator signal. In this work, a new concept of network based control of 2-DOF Serial Flexible Link Manipulator (NC-2DSFLM) is introduced. The issue of communication delay and packet dropout is considered in the modeling of 2DSFLM. It is essential to use delay compensation technique to deal with the network induced issues actively. Here, digital smith predictor (DSP) based delay compensation technique has been developed with the objective of mitigating the detrimental effects of the network induced delays that are distributed between the sensor, controller, and actuator within a control loop of NC-2DSFLM. The performance of the framework of NC-2DSFLM is investigated by modeling and simulation of dynamics of NC-2DSFLM in MATLAB and SIMULINK environment.
AB - As a new generation of robot, lightweight flexible manipulator presents various applications in the field of advanced medical, modern industry, space and defense application, etc. Nowadays, these applications need control of flexible-link manipulator (FLM) from a distance, so the use of the network is essential for receiving the sensor signal and transmitting actuator signal. In this work, a new concept of network based control of 2-DOF Serial Flexible Link Manipulator (NC-2DSFLM) is introduced. The issue of communication delay and packet dropout is considered in the modeling of 2DSFLM. It is essential to use delay compensation technique to deal with the network induced issues actively. Here, digital smith predictor (DSP) based delay compensation technique has been developed with the objective of mitigating the detrimental effects of the network induced delays that are distributed between the sensor, controller, and actuator within a control loop of NC-2DSFLM. The performance of the framework of NC-2DSFLM is investigated by modeling and simulation of dynamics of NC-2DSFLM in MATLAB and SIMULINK environment.
UR - https://www.scopus.com/pages/publications/85044240428
UR - https://www.scopus.com/pages/publications/85044240428#tab=citedBy
U2 - 10.1109/TENCON.2017.8227885
DO - 10.1109/TENCON.2017.8227885
M3 - Conference contribution
AN - SCOPUS:85044240428
T3 - IEEE Region 10 Annual International Conference, Proceedings/TENCON
SP - 333
EP - 338
BT - TENCON 2017 - 2017 IEEE Region 10 Conference
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE Region 10 Conference, TENCON 2017
Y2 - 5 November 2017 through 8 November 2017
ER -