Jure Čas (Author), Darko Hercog (Author), Riko Šafarič (Author)

Abstract

This paper describes the application for teleoperations of the SCARA robot via the internet. The SCARA robot is used by students of mehatronics at the University of Maribor as a remote educational tool. The developed software consists of two parts i.e. the continuous neural network sliding mode controller (CNNSMC) and the graphical user interface (GUI). Application is based on two well-known commercially available software packages i.e. MATLAB/Simulink and LabVIEW. Matlab/Simulink and the DSP2 Library for Simulink are used for control algorithm development, simulation and executable code generation. While this code is executing on the DSP-2 Roby controller and through the analog and digital I/O lines drives the real process, LabVIEW virtual instrument (VI), running on the PC, is used as a user front end. LabVIEW VI provides the ability for on-line parameter tuning, signal monitoring, on-line analysis and via Remote Panels technology also teleoperation. The main advantage of a CNNSMC is the exploitation of its self-learning capability. When friction or an unexpected impediment occurs for example, the user of a remote application has no information about any changed robot dynamic and thus is unable to dispatch it manually. This is not a control problem anymore because, when a CNNSMC is used, any approximation of changed robot dynamic is estimated independently of the remote's user.

Keywords

LabVIEW;Matlab/Simulink;neural network control;remote educational tool;

Data

Language: English
Year of publishing:
Typology: 1.01 - Original Scientific Article
Organization: UM FERI - Faculty of Electrical Engineering and Computer Science
UDC: 007.52
COBISS: 11393814 Link will open in a new window
ISSN: 1861-2121
Views: 915
Downloads: 73
Average score: 0 (0 votes)
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Other data

Secondary language: Slovenian
Secondary keywords: LabVIEW;Matlab/Simulink;krmiljenje nevronske mreže;orodja za učenje na daljavo;
URN: URN:SI:UM:
Type (COBISS): Scientific work
Pages: str. 1-8
Volume: ǂVol. ǂ3
Issue: ǂno. ǂ2
Chronology: 2007
ID: 10850437
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