Optimal Robot Control using Modelica and Optimica
(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.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/1625387
- author
- Hast, Martin LU ; Åkesson, Johan LU and Robertsson, Anders LU
- organization
- publishing date
- 2009
- type
- Contribution to conference
- publication status
- published
- subject
- keywords
- Modelica, Optimica, Optimization, Robot Control
- conference name
- 7th International Modelica Conference, 2009
- conference location
- Como, Italy
- conference dates
- 2009-09-20 - 2009-09-22
- language
- English
- LU publication?
- yes
- id
- a9c9c471-fae2-4ad6-a809-524b8eed1d77 (old id 1625387)
- date added to LUP
- 2016-04-04 14:30:19
- date last changed
- 2018-11-21 21:20:42
@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}}, keywords = {{Modelica; Optimica; Optimization; Robot Control}}, language = {{eng}}, title = {{Optimal Robot Control using Modelica and Optimica}}, url = {{https://lup.lub.lu.se/search/files/6375693/8146207.pdf}}, year = {{2009}}, }