Abstract
Most industrial robotic manipulators are used for specific type of operation with predefined movements. This is obvious because industrial robots are constructed to perform repetitive tasks with certain precision and cycle time. This paper introduces another way to exploit advantages of robots by changing their movement dynamically with reaction to external forces and environment. This is partially solved by integrated force control sensors for manipulator grippers, but this article deals with the extension to control of the unstable system with fast dynamics. The best representative of such a system is a Ball & Plate model. This paper deals with the overview of the designed structure of the project and testing the feasibility of solutions.
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Acknowledgment
This article was created with support of the Ministry of Education of the Czech Republic under grant IGA reg. n. IGA/CebiaTech/2018/002.
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Spacek, L., Vojtesek, J. (2019). Overview of Ball & Plate Application for Collaborative Robot YuMi. In: Machado, J., Soares, F., Veiga, G. (eds) Innovation, Engineering and Entrepreneurship. HELIX 2018. Lecture Notes in Electrical Engineering, vol 505. Springer, Cham. https://doi.org/10.1007/978-3-319-91334-6_13
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DOI: https://doi.org/10.1007/978-3-319-91334-6_13
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