Modelling, Control Design and Inclusion of Articulated Robots in Cyber-Physical Factories

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F25%3A00617781" target="_blank" >RIV/67985556:_____/25:00617781 - isvavai.cz</a>

Výsledek na webu

<a href="https://www.mdpi.com/2076-0825/14/3/129" target="_blank" >https://www.mdpi.com/2076-0825/14/3/129</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/act14030129" target="_blank" >10.3390/act14030129</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Modelling, Control Design and Inclusion of Articulated Robots in Cyber-Physical Factories

Popis výsledku v původním jazyce

This paper addresses the features and limits of the principles and means that provide and support the design of motion control for industrial stationary articulated robots and their involvement in cyber-physical factories as part of the Industry 4.0 concept. The proposed methods are presented herein, from the modelling of kinematics and dynamics considering ideal rigid bodies and principles of classical mechanics, to their application in the design of conventional cascade control and advanced model-based control and use within commercial software tools. The paper demonstrates the modelling principles adapted for control design where a specific novel hierarchical control configuration is outlined. There is an introduction of possible software tools such as Simscape, Robotics Systems Toolbox, RT Toolbox, CIROS and others. It includes the specific aim of the rapid prototyping of robot motion control, which is intended for user development and tuning. In conjunction with conveyor belts, robots-manipulators are essential for cyber-physical factories built on the concept of Industry 4.0. The concept of Industry 4.0 is discussed in respect to the proposed algorithms and software means.

Název v anglickém jazyce

Modelling, Control Design and Inclusion of Articulated Robots in Cyber-Physical Factories

Popis výsledku anglicky

This paper addresses the features and limits of the principles and means that provide and support the design of motion control for industrial stationary articulated robots and their involvement in cyber-physical factories as part of the Industry 4.0 concept. The proposed methods are presented herein, from the modelling of kinematics and dynamics considering ideal rigid bodies and principles of classical mechanics, to their application in the design of conventional cascade control and advanced model-based control and use within commercial software tools. The paper demonstrates the modelling principles adapted for control design where a specific novel hierarchical control configuration is outlined. There is an introduction of possible software tools such as Simscape, Robotics Systems Toolbox, RT Toolbox, CIROS and others. It includes the specific aim of the rapid prototyping of robot motion control, which is intended for user development and tuning. In conjunction with conveyor belts, robots-manipulators are essential for cyber-physical factories built on the concept of Industry 4.0. The concept of Industry 4.0 is discussed in respect to the proposed algorithms and software means.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/GC23-04676J" target="_blank" >GC23-04676J: Řiditelná úchopová mechanika: Modelování, řízení a experimenty</a><br>

Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2025

Kód důvěrnosti údajů

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

Název periodika

Actuators

ISSN

2076-0825

e-ISSN

2076-0825

Svazek periodika

14

Číslo periodika v rámci svazku

1

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

19

Strana od-do

14030129

Kód UT WoS článku

001453566800001

EID výsledku v databázi Scopus

2-s2.0-105001259039