Optimal Tracking and Identification of Paths for Industrial Robots
(2011) 18th IFAC World Congress, 2011 p.1126-1132- Abstract
- This paper presents results from time-optimal path tracking for industrial robots. More specifically, three subproblems are studied and experimentally evaluated. The first is a contact-force control approach for determining the geometric robot motion, such that the tool centre point of the robot is moved according to the specification. The second problem is off-line solution of the optimisation problem describing the time-optimal path tracking problem, by using software which allows highlevel implementation and solution of optimisation problems. The third problem is robust control of the robot during real-time path tracking based on the optimisation results determined off-line. An earlier developed control structure for robust control is... (More)
- This paper presents results from time-optimal path tracking for industrial robots. More specifically, three subproblems are studied and experimentally evaluated. The first is a contact-force control approach for determining the geometric robot motion, such that the tool centre point of the robot is moved according to the specification. The second problem is off-line solution of the optimisation problem describing the time-optimal path tracking problem, by using software which allows highlevel implementation and solution of optimisation problems. The third problem is robust control of the robot during real-time path tracking based on the optimisation results determined off-line. An earlier developed control structure for robust control is implemented and tested in a robot system. This paper discusses the theory behind time-optimal path tracking and presents experimental results. Both contact-force controlled path identification and real-time path tracking of the identified path are evaluated on a 6-DOF industrial robot of type IRB140 from ABB. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/2173239
- author
- Olofsson, Björn LU ; Nilsson, Henrik ; Robertsson, Anders LU and Åkesson, Johan LU
- organization
- publishing date
- 2011
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- Proceedings of the 18th IFAC World Congress, 2011
- pages
- 1126 - 1132
- publisher
- IFAC
- conference name
- 18th IFAC World Congress, 2011
- conference location
- Milan, Italy
- conference dates
- 2011-08-28 - 2011-09-02
- external identifiers
-
- scopus:84866747420
- project
- LCCC
- ProFlexa
- RobotLab LTH
- language
- English
- LU publication?
- yes
- additional info
- key=bo+IFAC2011 project=proflexa,robot,LCCC-modeling
- id
- ffa680f1-4306-4850-9187-07069bba44f7 (old id 2173239)
- date added to LUP
- 2016-04-04 14:26:07
- date last changed
- 2024-01-19 05:17:33
@inproceedings{ffa680f1-4306-4850-9187-07069bba44f7, abstract = {{This paper presents results from time-optimal path tracking for industrial robots. More specifically, three subproblems are studied and experimentally evaluated. The first is a contact-force control approach for determining the geometric robot motion, such that the tool centre point of the robot is moved according to the specification. The second problem is off-line solution of the optimisation problem describing the time-optimal path tracking problem, by using software which allows highlevel implementation and solution of optimisation problems. The third problem is robust control of the robot during real-time path tracking based on the optimisation results determined off-line. An earlier developed control structure for robust control is implemented and tested in a robot system. This paper discusses the theory behind time-optimal path tracking and presents experimental results. Both contact-force controlled path identification and real-time path tracking of the identified path are evaluated on a 6-DOF industrial robot of type IRB140 from ABB.}}, author = {{Olofsson, Björn and Nilsson, Henrik and Robertsson, Anders and Åkesson, Johan}}, booktitle = {{Proceedings of the 18th IFAC World Congress, 2011}}, language = {{eng}}, pages = {{1126--1132}}, publisher = {{IFAC}}, title = {{Optimal Tracking and Identification of Paths for Industrial Robots}}, url = {{https://lup.lub.lu.se/search/files/8475885/8083837.pdf}}, year = {{2011}}, }