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Implementation of 7 DOF robotic system for fast unstable processes

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dc.title Implementation of 7 DOF robotic system for fast unstable processes en
dc.contributor.author Spaček, Ľuboš
dc.contributor.author Vojtěšek, Jiří
dc.relation.ispartof Proceedings of the 33rd International ECMS Conference on Modelling and Simulation (ECMS 2019)
dc.identifier.issn 2522-2414 Scopus Sources, Sherpa/RoMEO, JCR
dc.date.issued 2019
utb.relation.volume 33
utb.relation.issue 1
dc.citation.spage 172
dc.citation.epage 176
dc.event.title 33rd International ECMS Conference on Modelling and Simulation, ECMS 2019
dc.event.location Napoli
utb.event.state-en Italy
utb.event.state-cs Itálie
dc.event.sdate 2019-06-11
dc.event.edate 2019-06-14
dc.type conferenceObject
dc.language.iso en
dc.publisher European Council for Modelling and Simulation
dc.identifier.doi 10.7148/2019-0172
dc.relation.uri http://www.scs-europe.net/dlib/2019/2019-0172.htm
dc.relation.uri http://www.scs-europe.net/dlib/2019/ecms2019acceptedpapers/0172_mct_ecms2019_0067.pdf
dc.subject YuMi en
dc.subject robotics en
dc.subject LQ polynomial control en
dc.subject 7DoF en
dc.subject Ball & Plate en
dc.description.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). en
utb.faculty Faculty of Applied Informatics
dc.identifier.uri http://hdl.handle.net/10563/1008961
utb.identifier.obdid 43880102
utb.identifier.scopus 2-s2.0-85068749291
utb.identifier.wok 000477784500025
utb.source d-scopus
dc.date.accessioned 2019-08-16T09:30:12Z
dc.date.available 2019-08-16T09:30:12Z
dc.description.sponsorship Ministry of Education of the Czech Republic under grant IGA [IGA/CebiaTech/2019/004]
utb.ou CEBIA-Tech
utb.contributor.internalauthor Spaček, Ľuboš
utb.contributor.internalauthor Vojtěšek, Jiří
utb.fulltext.affiliation Lubos Spacek, Jiri Vojtesek Tomas Bata University in Zlin Faculty of Applied Informatics Nad Stranemi 4511, 760 05 Zlin, Czech Republic E-mail: {spacek,vojtesek}@utb.cz
utb.fulltext.dates -
utb.fulltext.sponsorship This article was created with support of the Ministry of Education of the Czech Republic under grant IGA reg. n. IGA/CebiaTech/2019/004.
utb.wos.affiliation [Spacek, Lubos; Vojtesek, Jiri] Tomas Bata Univ Zlin, Fac Appl Informat, Stranemi 4511, Zlin 76005, Czech Republic
utb.scopus.affiliation Tomas Bata University in Zlin, Faculty of Applied Informatics, Nad Stranemi 4511, Zlin, 760 05, Czech Republic
utb.fulltext.projects IGA/CebiaTech/2019/004
utb.fulltext.faculty Faculty of Applied Informatics
utb.fulltext.faculty Faculty of Applied Informatics
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