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2019 | OriginalPaper | Chapter

Collaborative Robot YuMi in Ball and Plate Control Application: Pilot Study

Authors : Lubos Spacek, Jiri Vojtesek, Jiri Zatopek

Published in: Cybernetics and Algorithms in Intelligent Systems

Publisher: Springer International Publishing

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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.

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Footnotes
1
RobotStudio Product Specification 3HAC026932-001 Revision R.
 
Literature
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go back to reference Spaček, L., Bobál, V., Vojtěšek, J.: Maze navigation on Ball & Plate Model. In: Silhavy, R., Senkerik, R., Kominkova Oplatkova, Z., Prokopova, Z., Silhavy, P. (eds.) Cybernetics and Mathematics Applications in Intelligent Systems CSOC 2017. Advances in Intelligent Systems and Computing, vol. 574, pp. 206–215. Springer, Cham (2017) Spaček, L., Bobál, V., Vojtěšek, J.: Maze navigation on Ball & Plate Model. In: Silhavy, R., Senkerik, R., Kominkova Oplatkova, Z., Prokopova, Z., Silhavy, P. (eds.) Cybernetics and Mathematics Applications in Intelligent Systems CSOC 2017. Advances in Intelligent Systems and Computing, vol. 574, pp. 206–215. Springer, Cham (2017)
Metadata
Title
Collaborative Robot YuMi in Ball and Plate Control Application: Pilot Study
Authors
Lubos Spacek
Jiri Vojtesek
Jiri Zatopek
Copyright Year
2019
DOI
https://doi.org/10.1007/978-3-319-91192-2_18

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