Please use this identifier to cite or link to this item:
http://hdl.handle.net/2080/2822
Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Sahu, Umesh Kumar | - |
dc.contributor.author | Patra, Dipti | - |
dc.contributor.author | Subudhi, Bidyadhar | - |
dc.date.accessioned | 2017-12-19T10:02:48Z | - |
dc.date.available | 2017-12-19T10:02:48Z | - |
dc.date.issued | 2017-11 | - |
dc.identifier.citation | IEEE Region 10 Conference TENCON 2017, Penang, Malaysia, 5 - 8 November, 2017 | en_US |
dc.identifier.uri | http://hdl.handle.net/2080/2822 | - |
dc.description | Copyright of this document belongs to proceedings publisher. | en_US |
dc.description.abstract | 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. | en_US |
dc.subject | 2-DOF Serial Flexible Link Manipulator | en_US |
dc.subject | Delay Compensation | en_US |
dc.subject | Digital Smith Predictor | en_US |
dc.subject | Network Control System | en_US |
dc.title | Network Based Control of 2-DOF Serial Flexible Link Manipulator | en_US |
dc.type | Article | en_US |
Appears in Collections: | Conference Papers |
Files in This Item:
File | Description | Size | Format | |
---|---|---|---|---|
2017_TENCON_DPatra_Network.pdf | Conference Paper | 1.3 MB | Adobe PDF | View/Open |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.