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Collaborative Robot YuMi in ball and plate control application: Pilot study

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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 9783319911915
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
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