Development of a robotic arm suitable for demonstration of advanced control methods

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dc.contributor.authorKajzr Danielcs
dc.contributor.authorBeran Leošcs
dc.contributor.authorZáda Václavcs
dc.date.accessioned2018-09-25T12:12:09Z
dc.date.available2018-09-25T12:12:09Z
dc.date.issued2017cs
dc.description.abstract—Our article deals with the development of a robotic arm with “open control system” (for this particular application - with two degrees of freedom and possibility to add). The open control system allows, together with the known parameters of our robotic arm, to use advanced control methods. The robotic arm is controlled by a PLC and automatically generated code via tools - BR Target for Simulink. This tool allows us to convert Simulink models into an automatically generated code in C/C++ and its direct implementation on PLCs. This method of a design allows an easy implementation for sophisticated simulation models and control structures. The article focuses on the preparation and evaluation of the properties of a robotic arm for implementation possibilities of advanced control methods. At first, we found the physical limitations of the individual actuators. Then we dealt with the problems of generating the trajectory with respect to the physical limitations of the individual actuators. For the dynamics of the robotic arm spline functions for trajectory generation and performed measurements of lag errors are used. In conclusion, we evaluated the advantages and disadvantages of this method of control and outlined possible applications for which we can apply this kind of control.en
dc.format.extent7cs
dc.identifier.doi10.1109/icstcc.2017.8107037
dc.identifier.isbn978-153863842-2cs
dc.identifier.urihttps://dspace.tul.cz/handle/15240/30911
dc.identifier.urihttps://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8107037
dc.language.isoengcs
dc.publisherIEEEcs
dc.relation.ispartofseries1cs
dc.relation.urihttp://xplorestaging.ieee.org/ielx7/8099482/8106996/08107037.pdf?arnumber=8107037cs
dc.subjectrobot controlcs
dc.subjectrobot kinematicscs
dc.subjectspline functioncs
dc.subjectmatlabcs
dc.subjectManipulatorscs
dc.subjectsoftware packagescs
dc.subjecttrajectorycs
dc.subjectservice robotscs
dc.subjectsplines (mathematics)cs
dc.titleDevelopment of a robotic arm suitable for demonstration of advanced control methodsen
dc.titleDevelopment of a robotic arm suitable for demonstration of advanced control methodscs
local.citation.epage217-223cs
local.citation.spage217-223cs
local.identifier.publikace4364
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