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Title: | Ball & plate model on ABB YuMi robot |
Author: | Spaček, Ľuboš; Vojtěšek, Jiří |
Document type: | Conference paper (English) |
Source document: | Advances in Intelligent Systems and Computing. 2019, vol. 986, p. 283-291 |
ISSN: | 2194-5357 (Sherpa/RoMEO, JCR) |
ISBN: | 978-3-03-019812-1 |
DOI: | https://doi.org/10.1007/978-3-030-19813-8_29 |
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. © Springer Nature Switzerland AG 2019. |
Full text: | https://link.springer.com/chapter/10.1007/978-3-030-19813-8_29 |
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