Abstract
The purpose of this paper is to present results of control of Ball & Plate model using the collaborative industrial robot YuMi. The paper presents first results after simulations and feasibility were examined in the pilot study. The linear quadratic (LQ) 2DoF controller was used because of its ease of use, robustness, and reliability. Following this study can help with projects that rely on fast synchronization of robots and external sensors such as dynamic scanning or laser cutting.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
x coordinate angle is angle of the plate that changes only x position of the ball and y coordinate angle is angle of the plate that changes only y position of the ball.
References
Jadlovska, A., Jajcisin, S., Lonscak, R.: Modelling and PID control design of nonlinear educational model Ball & Plate. In: 17th International Conference on Process Control, Strbske Pleso, pp. 475–483 (2009)
Knuplez, A., Chowdhury, A., Svecko, R.: Modeling and control design for the ball and plate system. In: IEEE International Conference on Industrial Technology, Maribor, Slovenia, pp. 1064–1067 (2003)
ABB Robotics - IRB 14000 YuMi. http://new.abb.com/products/robotics/industrial-robots/yumi
Spacek, L., Vojtesek, J., Zatopek, J.: Collaborative robot YuMi in Ball & Plate control application: pilot study. In: Silhavy, R., Senkerik, R., Kominkova Oplatkova, Z., Prokopova, Z., Silhavy, P. (eds.) Cybernetics and Algorithms in Intelligent Systems. CSOC 2018. Advances in Intelligent Systems and Computing, vol. 765, pp. 167–175. Springer, Heidelberg (2018)
Bobal, V., Bohm, J., Fessl, J., Machacek, J.: Digital Self-tuning Controllers. Springer, London (2005)
Spacek, L., Bobal, V., Vojtesek, J.: LQ digital control of Ball & Plate system. In: 31st European Conference on Modelling and Simulation ECMS 2017, pp. 427–432. European Council for Modelling and Simulation (2017)
Externally Guided Motion, Application manual - Controller software IRC5 - 3HAC050798-001 Revision C, pp.326–375
Robot Operating System. Springer, New York (2018). ISBN 978-3-319-91589-0
Acknowledgments
This article was created with support of the Ministry of Education of the Czech Republic under grant IGA reg. n. IGA/CebiaTech/2019/004.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Spacek, L., Vojtesek, J. (2019). Ball & Plate Model on ABB YuMi Robot. In: Silhavy, R. (eds) Cybernetics and Automation Control Theory Methods in Intelligent Algorithms. CSOC 2019. Advances in Intelligent Systems and Computing, vol 986. Springer, Cham. https://doi.org/10.1007/978-3-030-19813-8_29
Download citation
DOI: https://doi.org/10.1007/978-3-030-19813-8_29
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-19812-1
Online ISBN: 978-3-030-19813-8
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)