Ball & Plate Model on ABB YuMi Robot

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 986)


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.


Ball & Plate YuMi Robot LQ control Discrete-time 



This article was created with support of the Ministry of Education of the Czech Republic under grant IGA reg. n. IGA/CebiaTech/2019/004.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Department of Process Control, Faculty of Applied InformaticsTomas Bata University in ZlinZlinCzech Republic

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