Network based control of 2-DOF serial flexible link manipulator

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.