Ball & Plate Model on ABB YuMi Robot

被引：1
|
作者：
Spacek, Lubos [1 ]
Vojtesek, Jiri [1 ]
机构：
[1] Tomas Bata Univ Zlin, Fac Appl Informat, Dept Proc Control, Nad Stranemi 4511, Zlin 76005, Czech Republic
来源：
CYBERNETICS AND AUTOMATION CONTROL THEORY METHODS IN INTELLIGENT ALGORITHMS | 2019年 / 986卷
关键词：
Ball & Plate; YuMi; Robot; LQ control; Discrete-time;
D O I：
10.1007/978-3-030-19813-8_29
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：283 / 291
页数：9
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