Development of a robotic arm suitable for demonstration of advanced control methods

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F46747885%3A24220%2F17%3A00004364" target="_blank" >RIV/46747885:24220/17:00004364 - isvavai.cz</a>
Result on the web
<a href="http://xplorestaging.ieee.org/ielx7/8099482/8106996/08107037.pdf?arnumber=8107037" target="_blank" >http://xplorestaging.ieee.org/ielx7/8099482/8106996/08107037.pdf?arnumber=8107037</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/icstcc.2017.8107037" target="_blank" >10.1109/icstcc.2017.8107037</a>

Result language
angličtina
Original language name
Development of a robotic arm suitable for demonstration of advanced control methods
Original language description
The article deals with the development of a robotic arm with “open control system” (for this particular application - with two degrees of freedom and possibility to add). The open control system allows, together with the known parameters of our robotic arm, to use advanced control methods. The robotic arm is controlled by a PLC and automatically generated code via tools - BR Target for Simulink. This tool allows us to convert Simulink models into an automatically generated code in C/C and its direct implementation on PLCs. This method of a design allows an easy implementation for sophisticated simulation models and control structures. The article focuses on the preparation and evaluation of the properties of a robotic arm for implementation possibilities of advanced control methods. At first, we found the physical limitations of the individual actuators. Then we dealt with the problems of generating the trajectory with respect to the physical limitations of the individual actuators. For the dynamics of the robotic arm spline functions for trajectory generation and performed measurements of lag errors are used. In conclusion, we evaluated the advantages and disadvantages of this method of control and outlined possible applications for which we can apply this kind of control.
Czech name
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Czech description
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Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
2017 21st International Conference on System Theory, Control and Computing (ICSTCC)
ISBN
978-153863842-2
ISSN
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e-ISSN
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Number of pages
7
Pages from-to
217-223
Publisher name
IEEE
Place of publication
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Event location
Sinaia, Romania
Event date
Jan 1, 2017
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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