Abstract
The purpose of this paper is to present results of control of Ball & Plate model using the collaborative industrial robot YuMi. The paper presents first results after simulations and feasibility were examined in the pilot study. The linear quadratic (LQ) 2DoF controller was used because of its ease of use, robustness, and reliability. Following this study can help with projects that rely on fast synchronization of robots and external sensors such as dynamic scanning or laser cutting.
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Notes
- 1.
x coordinate angle is angle of the plate that changes only x position of the ball and y coordinate angle is angle of the plate that changes only y position of the ball.
References
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Acknowledgments
This article was created with support of the Ministry of Education of the Czech Republic under grant IGA reg. n. IGA/CebiaTech/2019/004.
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Spacek, L., Vojtesek, J. (2019). Ball & Plate Model on ABB YuMi Robot. In: Silhavy, R. (eds) Cybernetics and Automation Control Theory Methods in Intelligent Algorithms. CSOC 2019. Advances in Intelligent Systems and Computing, vol 986. Springer, Cham. https://doi.org/10.1007/978-3-030-19813-8_29
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DOI: https://doi.org/10.1007/978-3-030-19813-8_29
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