Implementation of Ladder Logic for Control of Pipeline Inspection Robot Using PLC

Verma, Varnita; Kumar, Roushan; Kaundal, Vivek

doi:10.1007/978-981-10-1708-7_113

Cited by 2 publications

(1 citation statement)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…It performs significantly well when all dynamic and physical parameter of the system is known [19][20][21][22][23]. The CTC like control appears in Robust, Adaptive and Learning Control [19,23,24]. Figure 3 provides the block diagram for PD-CTC Controller, which illustrates that it's a feedback control system.…”

Section: Control: Computed Torque Controller Analysismentioning

confidence: 99%

Performance estimation of computed torque control for surgical robot application

Verma

Gupta

et al. 2020

JMES

View full text Add to dashboard Cite

In the current paradigm, the development in robotic technology has a huge impact to revolutionize the medical domain. Surgical robots have greater advantages over surgeon such as reduced operating time, reduced tremor, less blood loss, and high dexterity. To perform different operations during surgery a base robot is required with the task-specific end effector. In this paper, the selective compliant assembly robot arm (SCARA) has been considered as the base robot and the complete mathematical modeling of the robot is illustrated. The equation of Kinematics is derived from the D-H notation. SCARA dynamic model is derived from Euler Lagrange. In order to achieve trajectory tracking the Computed Toque Control technique (CTC) applied to the SCARA manipulator. The performance of the CTC technique for trajectory tracking of each joint of the SCARA robot has evaluated in contrast with tuned PD and PID controller. The simulation results were discussed and verified using MATLAB simulation software.

show abstract