Overview of ball & Plate application for collaborative robot YuMi

Abstract

Most industrial robotic manipulators are used for specific type of operation with predefined movements. This is obvious because industrial robots are constructed to perform repetitive tasks with certain precision and cycle time. This paper introduces another way to exploit advantages of robots by changing their movement dynamically with reaction to external forces and environment. This is partially solved by integrated force control sensors for manipulator grippers, but this article deals with the extension to control of the unstable system with fast dynamics. The best representative of such a system is a Ball & Plate model. This paper deals with the overview of the designed structure of the project and testing the feasibility of solutions. © 2019, Springer International Publishing AG, part of Springer Nature.