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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 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
; ; and
organization
publishing date
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}},
}