Collaborative Robot YuMi in Ball and Plate Control Application: Pilot Study

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F70883521%3A28140%2F18%3A63520798" target="_blank" >RIV/70883521:28140/18:63520798 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1007/978-3-319-91192-2_18" target="_blank" >http://dx.doi.org/10.1007/978-3-319-91192-2_18</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-319-91192-2_18" target="_blank" >10.1007/978-3-319-91192-2_18</a>

Result language
angličtina
Original language name
Collaborative Robot YuMi in Ball and Plate Control Application: Pilot Study
Original language description
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 exible 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 identi ed and based on this identi cation is designed a controller, which is tested in a simulation environment.
Czech name
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Czech description
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Project
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Continuities
S - Specificky vyzkum na vysokych skolach<br>I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Advances in Intelligent Systems and Computing, Volume 765
ISBN
978-331991191-5
ISSN
2194-5357
e-ISSN
neuvedeno
Number of pages
9
Pages from-to
167-175
Publisher name
Springer Verlag
Place of publication
Berlín
Event location
Zlín
Event date
Apr 25, 2018
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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