Adaptive MRAC Controller in the Effector Trajectory Generator for Industry 4.0 Machines

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1196)


Modern industry, referring to the concept of the Fourth Industrial Revolution, sets new standards for automation systems. There are many applications, such as glue and paint application, which can be improved by using a trajectory generator described in g-code language. With such an application, it would be possible to meet one of the requirements of the standard, that is mass unit production. Unfortunately, the g-code is accessible only for cnc devices and some special systems, which can be only semi-automatic. This article shows the project of a PLC based generator for the effector movement trajectory, which interprets the g-code in fully automatic mode. An adaptive regulator was also proposed to reduce the vibration of the effector.


Adaptive controller Industry 4.0 Industrial manufacturing systems 


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© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Faculty of Mechanical Engineering and RoboticsAGH University of Science and TechnologyKrakówPoland

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