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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2017

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

2017 21st International Conference on System Theory, Control and Computing (ICSTCC)

ISBN

978-153863842-2

ISSN

—

e-ISSN

—

Počet stran výsledku

7

Strana od-do

217-223

Název nakladatele

IEEE

Místo vydání

—

Místo konání akce

Sinaia, Romania

Datum konání akce

1. 1. 2017

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

—