NDLI: Second order sliding mode real-time networked control of a robotic manipulator

Content Provider	IEEE Xplore Digital Library
Author	Capisani, L. Facchinetti, T. Ferrara, A.
Copyright Year	2007
Description	Author affiliation: Univ. of Pavia, Pavia (Capisani, L.)
Abstract	The distributed control of industrial plants, where the control algorithm runs on a machine that receives information from sensors and sends actuation commands over a communication network is a challenging task, due to the delays introduced by communication. This paper presents the networked control of a robotic anthropomorphic manipulator based on a second order sliding mode technique. The control objective is to track a desired trajectory for the manipulator. The adopted control scheme allows an easy and effective distribution of the control algorithm over two networked machines. While the predictability of real-time tasks execution is achieved by the S.Ha.R.K. real-time operating system, the communication is established via a standard Ethernet network. The performances of the control system are evaluated under different experimental system configurations using a COMAU SMART3-S2 industrial robot, and the results are analyzed to put in evidence the robustness of the proposed approach against the possible network delays.
Starting Page	941
Ending Page	948
File Size	376913
Page Count	8
File Format	PDF
ISBN	9781424408252
DOI	10.1109/EFTA.2007.4416885
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-09-25
Publisher Place	Greece
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot control Sliding mode control Manipulators Communication system control Service robots Robot sensing systems Real time systems Distributed control Industrial plants Communication networks
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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