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Digital
Library of the European Council for Modelling
and Simulation |
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Title: |
Implementation Of 7 DoF
Robotic System For Fast Unstable Processes |
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Authors: |
Lubos
Spacek, Jiri Vojtesek |
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Published in:
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(2019). ECMS 2019
Proceedings Edited by: Mauro Iacono, Francesco Palmieri, Marco Gribaudo,
Massimo Ficco, European Council for Modeling and Simulation. DOI: http://doi.org/10.7148/2019 ISSN:
2522-2422 (ONLINE) ISSN:
2522-2414 (PRINT) ISSN:
2522-2430 (CD-ROM) 33rd International ECMS Conference on
Modelling and Simulation,
Caserta, Italy, June 11th – June 14th, 2019 |
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Citation
format: |
Lubos Spacek, Jiri Vojtesek (2019). Implementation Of 7 DoF Robotic System For Fast Unstable Processes, ECMS 2019 Proceedings Edited by: Mauro Iacono, Francesco Palmieri, Marco Gribaudo, Massimo Ficco European Council for Modeling and Simulation. doi: 10.7148/2019-0172 |
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DOI: |
https://doi.org/10.7148/2019-0172 |
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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 collabora-tive 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 implementa-tion to the robot’s code and reliable behavior. Working
system is presented and solutions are provided to im-prove the quality and
overall stability of the solution. |
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