Robot Drawing on a Moving Paperboard
- Publication Type:
- Conference Proceeding
- Citation:
- Australasian Conference on Robotics and Automation Acra, 2024, 2024-November
- Issue Date:
- 2024-01-01
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Robustness to uncertainties is crucial to collaborative robot control, particularly when performing tasks under unpredictable external influences. One important class of challenging problems is controlling the robot to perform a specific task on a target that undergoes random movements. To address this challenge, we consider the problem of using a robot manipulator to draw a given shape on a paperboard that can have unpredictable small movements. An electromagnetic sensor is used to monitor the pose of the paperboard. We design an MPC (Model Predictive Control) controller and compared it with a few different feedback control strategies for the robot to draw the required shape on the paperboard. Simulations and physical experiments using a Dobot demonstrate that using the electromagnetic sensor information as feedback combined with different control strategies can allow for accurate drawing. A video of our experiments is available at https://youtu.be/Wmj0GU5CYH4?si=cgnN9D3VRr0ZLRlK.
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