执行机构
计算机科学
补偿(心理学)
控制工程
MATLAB语言
网络数据包
移动机械手
控制器(灌溉)
机器人
控制理论(社会学)
控制(管理)
工程类
计算机网络
移动机器人
人工智能
农学
操作系统
生物
心理学
精神分析
作者
Umesh Kumar Sahu,Dipti Patra,Bidyadhar Subudhi
标识
DOI:10.1109/tencon.2017.8227885
摘要
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.
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