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Erschienen in:
2019 | OriginalPaper | Buchkapitel
Collaborative Robot YuMi in Ball and Plate Control Application: Pilot Study
verfasst von : Lubos Spacek, Jiri Vojtesek, Jiri Zatopek
Erschienen in: Cybernetics and Algorithms in Intelligent Systems
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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.