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Optimal Robot Control using Modelica and Optimica

Hast, Martin LU ; Åkesson, Johan LU and Robertsson, Anders LU (2009) 7th International Modelica Conference, 2009
Abstract
In this paper, Modelica along with Optimica has been used to formulate and solve a minimum time optimization problem. The problem concerns traversing a given path with a robot in as short time possible under input constraints. Different problem reformulations are discussed that increase the chance of finding optimal solutions. This paper also discusses the use of these optimal solutions for control of industrial robots. A control structure, in which the optimal trajectories are essential, are used on an ABB IRB140B to ensure robustness for model errors and disturbances.
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author
organization
publishing date
type
Contribution to conference
publication status
published
subject
keywords
Modelica, Optimica, Optimization, Robot Control
conference name
7th International Modelica Conference, 2009
language
English
LU publication?
yes
id
a9c9c471-fae2-4ad6-a809-524b8eed1d77 (old id 1625387)
date added to LUP
2010-06-30 09:21:03
date last changed
2016-07-01 11:10:55
@misc{a9c9c471-fae2-4ad6-a809-524b8eed1d77,
  abstract     = {In this paper, Modelica along with Optimica has been used to formulate and solve a minimum time optimization problem. The problem concerns traversing a given path with a robot in as short time possible under input constraints. Different problem reformulations are discussed that increase the chance of finding optimal solutions. This paper also discusses the use of these optimal solutions for control of industrial robots. A control structure, in which the optimal trajectories are essential, are used on an ABB IRB140B to ensure robustness for model errors and disturbances.},
  author       = {Hast, Martin and Åkesson, Johan and Robertsson, Anders},
  keyword      = {Modelica,Optimica,Optimization,Robot Control},
  language     = {eng},
  title        = {Optimal Robot Control using Modelica and Optimica},
  year         = {2009},
}