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Modeling and Control of a Parallel Robot Using Modelica

Robertsson, Anders LU ; Dressler, Isolde LU and Schiffer, Johannes (2009) 7th International Modelica Conference
Abstract
A new type of high-performance robots has been developed by ABB Robotics, the Robotics Lab at Lund University and Güdel AG, Switzerland. In all parts of the project, ranging from the simulation of the kinematic configuration and reachable workspace, and kinematic and dynamic calibration/grey-box identification, and to code generation of controllers and optimal switching strategies for hybrid control, Modelica and Opti- mica provide very valuable functionality. We will make a short overview of the different aspects used during the development.
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Contribution to conference
publication status
published
subject
keywords
Robotics, Multi Body Systems, Dual motor control
conference name
7th International Modelica Conference
language
English
LU publication?
yes
id
74d199ba-dec5-4062-ae32-3b1e05f711cd (old id 8516661)
date added to LUP
2016-01-14 12:37:32
date last changed
2016-04-16 11:10:17
@misc{74d199ba-dec5-4062-ae32-3b1e05f711cd,
  abstract     = {A new type of high-performance robots has been developed by ABB Robotics, the Robotics Lab at Lund University and Güdel AG, Switzerland. In all parts of the project, ranging from the simulation of the kinematic configuration and reachable workspace, and kinematic and dynamic calibration/grey-box identification, and to code generation of controllers and optimal switching strategies for hybrid control, Modelica and Opti- mica provide very valuable functionality. We will make a short overview of the different aspects used during the development.},
  author       = {Robertsson, Anders and Dressler, Isolde and Schiffer, Johannes},
  keyword      = {Robotics,Multi Body Systems,Dual motor control},
  language     = {eng},
  title        = {Modeling and Control of a Parallel Robot Using Modelica},
  year         = {2009},
}