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Analysis of CAN-based 2-DOF SCARA robot performance under work control

Distributed control applications required a reliable network for information exchange. In this paper a networked control system of direct-drive 2-DOF SCARA Robot are developed based on Controller Area Network (CAN) where PD controller is adapted to form the closed loop system. The network system whi...

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Main Authors: Dahalan, A. S. A., Husain, A. R., Shah, M. B. N.
Format: Conference or Workshop Item
Published: 2015
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/59151/
http://dx.doi.org/10.1109/ISCAIE.2014.7010231
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spelling my.utm.591512021-12-15T02:00:58Z http://eprints.utm.my/id/eprint/59151/ Analysis of CAN-based 2-DOF SCARA robot performance under work control Dahalan, A. S. A. Husain, A. R. Shah, M. B. N. TK Electrical engineering. Electronics Nuclear engineering Distributed control applications required a reliable network for information exchange. In this paper a networked control system of direct-drive 2-DOF SCARA Robot are developed based on Controller Area Network (CAN) where PD controller is adapted to form the closed loop system. The network system which consists of two sensor nodes, two actuator nodes and two controller nodes performs data exchange in CAN 2.0A data frames under various CAN speeds. The performance of the system under communication delay and data priority is analyzed. The simulation is performed by using Matiab/Simulink with TrueTime Toolbox. The result shows that the optimized system performance can be achieved under proper sampling time and CAN speed associated to the dynamic of the system. 2015 Conference or Workshop Item PeerReviewed Dahalan, A. S. A. and Husain, A. R. and Shah, M. B. N. (2015) Analysis of CAN-based 2-DOF SCARA robot performance under work control. In: 2014 IEEE Symposium on Computer Applications and Industrial Electronics, ISCAIE 2014, 7 - 8 April 2014, Penang, Malaysia. http://dx.doi.org/10.1109/ISCAIE.2014.7010231
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Dahalan, A. S. A.
Husain, A. R.
Shah, M. B. N.
Analysis of CAN-based 2-DOF SCARA robot performance under work control
description Distributed control applications required a reliable network for information exchange. In this paper a networked control system of direct-drive 2-DOF SCARA Robot are developed based on Controller Area Network (CAN) where PD controller is adapted to form the closed loop system. The network system which consists of two sensor nodes, two actuator nodes and two controller nodes performs data exchange in CAN 2.0A data frames under various CAN speeds. The performance of the system under communication delay and data priority is analyzed. The simulation is performed by using Matiab/Simulink with TrueTime Toolbox. The result shows that the optimized system performance can be achieved under proper sampling time and CAN speed associated to the dynamic of the system.
format Conference or Workshop Item
author Dahalan, A. S. A.
Husain, A. R.
Shah, M. B. N.
author_facet Dahalan, A. S. A.
Husain, A. R.
Shah, M. B. N.
author_sort Dahalan, A. S. A.
title Analysis of CAN-based 2-DOF SCARA robot performance under work control
title_short Analysis of CAN-based 2-DOF SCARA robot performance under work control
title_full Analysis of CAN-based 2-DOF SCARA robot performance under work control
title_fullStr Analysis of CAN-based 2-DOF SCARA robot performance under work control
title_full_unstemmed Analysis of CAN-based 2-DOF SCARA robot performance under work control
title_sort analysis of can-based 2-dof scara robot performance under work control
publishDate 2015
url http://eprints.utm.my/id/eprint/59151/
http://dx.doi.org/10.1109/ISCAIE.2014.7010231
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score 13.211869

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