Implementation of 7 DOF robotic system for fast unstable processes

Abstract

The industrial robotics is a fast growing area which reaches beyond automotive and large companies. More special tasks are required from robots than before, some of which require dynamic reactions from the robot based on external sensors. This paper presents solution for controlling of unstable processes using collaborative robotic manipulator ABB YuMi. The Ball & Plate model serves as an example of the relatively fast and unstable system. The linear quadratic (LQ) polynomial 2DoF controller is used because of its easy implementation to the robot’s code and reliable behavior. Working system is presented and solutions are provided to improve the quality and overall stability of the solution. ©ECMS Mauro Iacono, Francesco Palmieri, Marco Gribaudo, Massimo Ficco (Editors).