Kontaktujte nás | Jazyk: čeština English
dc.title | Collaborative Robot YuMi in ball and plate control application: Pilot study | en |
dc.contributor.author | Spaček, Ľuboš | |
dc.contributor.author | Vojtěšek, Jiří | |
dc.contributor.author | Zátopek, Jiří | |
dc.relation.ispartof | Advances in Intelligent Systems and Computing | |
dc.identifier.issn | 2194-5357 Scopus Sources, Sherpa/RoMEO, JCR | |
dc.identifier.isbn | 978-3-319-91191-5 | |
dc.date.issued | 2019 | |
utb.relation.volume | 765 | |
dc.citation.spage | 167 | |
dc.citation.epage | 175 | |
dc.event.title | 7th Computer Science On-line Conference, CSOC 2018 | |
dc.event.sdate | 2018-04-25 | |
dc.event.edate | 2018-04-28 | |
dc.type | conferenceObject | |
dc.language.iso | en | |
dc.publisher | Springer Verlag | |
dc.identifier.doi | 10.1007/978-3-319-91192-2_18 | |
dc.relation.uri | https://link.springer.com/chapter/10.1007/978-3-319-91192-2_18 | |
dc.subject | Ball & Plate | en |
dc.subject | Discrete-time | en |
dc.subject | LQ control | en |
dc.subject | Robot | en |
dc.subject | YuMi | en |
dc.description.abstract | Ball & Plate is a well-known concept and interesting example of an unstable process. Numerous types of Ball & Plate structure can be found and this paper tries to extend its potential of moving the whole plate in space by using an industrial robotic manipulator as the most flexible way to achieve this goal. The collaborative dual-arm robot YuMi from ABB is chosen for this task as the balance between precision and safety. The purpose of the paper is to investigate restrictions and boundaries of such solution, thus the model is identified and based on this identification is designed a controller, which is tested in a simulation environment. © 2019, Springer International Publishing AG, part of Springer Nature. | en |
utb.faculty | Faculty of Applied Informatics | |
dc.identifier.uri | http://hdl.handle.net/10563/1007980 | |
utb.identifier.obdid | 43879225 | |
utb.identifier.scopus | 2-s2.0-85048058486 | |
utb.source | d-scopus | |
dc.date.accessioned | 2018-07-27T08:47:37Z | |
dc.date.available | 2018-07-27T08:47:37Z | |
dc.description.sponsorship | IGA, Ministry of Education of the Republic of Belarus; IGA/CebiaTech/2018/002, Ministry of Education of the Republic of Belarus | |
utb.contributor.internalauthor | Spaček, Ľuboš | |
utb.contributor.internalauthor | Vojtěšek, Jiří | |
utb.contributor.internalauthor | Zátopek, Jiří | |
utb.scopus.affiliation | Department of Process Control, Faculty of Applied Informatics, Tomas Bata University in Zlin, Nad Stranemi 4511, Zlin, Czech Republic |