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Optimal Tracking and Identification of Paths for Industrial Robots

Olofsson, Björn LU ; Nilsson, Henrik; Robertsson, Anders LU and Åkesson, Johan LU (2011) 18th IFAC World Congress, 2011 In Proceedings of the 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)
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author
organization
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type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
Proceedings of the 18th IFAC World Congress, 2011
pages
1126 - 1132
publisher
IFAC
conference name
18th IFAC World Congress, 2011
external identifiers
  • scopus:84866747420
project
LCCC
language
English
LU publication?
yes
id
ffa680f1-4306-4850-9187-07069bba44f7 (old id 2173239)
date added to LUP
2011-10-11 10:45:17
date last changed
2017-01-01 08:28:16
@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},
  year         = {2011},
}