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
相关论文
共 50 条
  • [21] Stabilizing of Ball and Plate System Using an Approximate Model
    Yildiz, H. Alpaslan
    Goren-Sumer, Leyla
    [J]. IFAC PAPERSONLINE, 2017, 50 (01): : 9601 - 9606
  • [22] Ball and plate
    不详
    [J]. CONSTRAINED OPTIMAL CONTROL OF LINEAR AND HYBRID SYSTEMS, 2003, 290 : 177 - 183
  • [23] Motion planning for a spherical mobile robot: Revisiting the classical ball-plate problem
    Mukherjee, R
    Minor, MA
    Pukrushpan, JT
    [J]. JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2002, 124 (04): : 502 - 511
  • [24] Skillful Operating of Working Plate to Control Ball Rolling Motion with a Dual Arm Robot
    Kinoshita, Shun
    Hirogaki, Toshiki
    Aoyama, Eiichi
    Wu, Wei
    [J]. PROCEEDINGS OF THE ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION, 2013, VOL 2B, 2013,
  • [25] Development of a Teach Pendant for an ABB robot
    Garcia, E.
    Vergara, S.
    Reyes, F.
    Vargas, M. A.
    Palomino, A.
    Villegas, G.
    [J]. 2009 INTERNATIONAL CONFERENCE ON ELECTRICAL COMMUNICATIONS AND COMPUTERS, 2009, : 256 - +
  • [26] Digital control of Ball & Plate model using LQ controller
    Spacek, Lubos
    Bobal, Vladimir
    Vojtesek, Jiri
    [J]. 2017 21ST INTERNATIONAL CONFERENCE ON PROCESS CONTROL (PC), 2017, : 36 - 41
  • [27] ABB YuMi机器人助力ATM行业实现24小时不间断测试
    [J]. 自动化博览, 2019, (09) : 5 - 5
  • [28] THE POSITIONING OF A BALL ON PLATE
    Ilie, Borcosi
    Marian, Popescu Ion
    Adrian, Runceanu
    [J]. GEOCONFERENCE ON INFORMATICS, GEOINFORMATICS AND REMOTE SENSING - CONFERENCE PROCEEDINGS, VOL I, 2013, : 249 - 256
  • [29] ABB推出面向未来的人机协作产品:YuMi双臂机器人
    [J]. 自动化技术与应用, 2014, (09) : 126 - 126
  • [30] LASER IMPLOSION AND FUSION WITH BALL-ON-PLATE AND BALL-IN-PLATE TARGETS
    HOLZRICHTER, JF
    STORM, E
    AHLSTROM, HG
    SPECK, DR
    SWAIN, JE
    COLEMAN, LW
    HENDRICKS, CD
    KORNBLUM, HN
    SEWARD, FD
    SLIVINSKY, VW
    [J]. BULLETIN OF THE AMERICAN PHYSICAL SOCIETY, 1975, 20 (10): : 1266 - 1266
12345