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Optimal Control and Path Following for Industrial Robots

Hast, Martin (2009) In MSc Theses
Department of Automatic Control
Abstract
When using industrial robots in production lines both speed and accuracy is of great importance. This thesis investigates how off-line optimization can be used to create references to a control structure with the aim of traversing a given path in as little time as possible, under given input constraints, without deviating from the path. In this thesis Modelica and Optimica is used to formulate and solve minimum time optimization problems. For the purpose of optimization, a model of an ABB IRB140B industrial robot was identified. A control structure known as a Path Velocity Controller has been implemented in Simulink with the objective to control the IRB140B. The implemented controller was then evaluated in simulations.
Please use this url to cite or link to this publication:
author
Hast, Martin
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
publication/series
MSc Theses
report number
TFRT-5842
ISSN
0280-5316
language
English
id
8847556
date added to LUP
2016-03-17 09:58:43
date last changed
2016-03-17 09:58:43
@misc{8847556,
  abstract     = {When using industrial robots in production lines both speed and accuracy is of great importance. This thesis investigates how off-line optimization can be used to create references to a control structure with the aim of traversing a given path in as little time as possible, under given input constraints, without deviating from the path. In this thesis Modelica and Optimica is used to formulate and solve minimum time optimization problems. For the purpose of optimization, a model of an ABB IRB140B industrial robot was identified. A control structure known as a Path Velocity Controller has been implemented in Simulink with the objective to control the IRB140B. The implemented controller was then evaluated in simulations.},
  author       = {Hast, Martin},
  issn         = {0280-5316},
  language     = {eng},
  note         = {Student Paper},
  series       = {MSc Theses},
  title        = {Optimal Control and Path Following for Industrial Robots},
  year         = {2009},
}