we are using Truetime Toolbox/MATLAB Simulink networked the dynamic model of SCARA robot with CAN(controller area network).Our focus research area is the delay on networked which is based CAN. before this we networked the DC motor model, active suspension system, RIP(rotatry inverted pendulum , nonliner but only 1 link) and also kinematic scara robot based CAN using Truetime. all this model are linear model. We already published paper based on this simulation.all the simulation result is ok. which is the output response is same compared to the system running without networked. We can used the same gain for controller which we used to the system without networked..the analysis for the delay will come after getting the good response .
Now, im running the networked SCARA model dynamic which is 2DOF using PID or PD controller.The problem is, i cannot get the better output response which is similar to response when SCARA dynamic model running without networked. I tuned the controller using PSO, GA, using signal constraint, manual tuning.. still cannot give the better response.
I do not know what is the trick , whether from Truetime itself or SCARA robot cannot tolerate with delay(delay introduce by network)..For now, i cannot find the best controller gain for this scara robot. PSO once did gave the value.. but only link angle 1 gave the exactly same output with the input. for link angle 2..no output.
Please someone could help me..i have been struggle with this for almost 2 semester.Thank you.