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Optimal Robot Control using Modelica and Optimica

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Author

Summary, in English

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.

Publishing year

2009

Language

English

Document type

Conference paper

Topic

  • Control Engineering

Keywords

  • Modelica
  • Optimica
  • Optimization
  • Robot Control

Conference name

7th International Modelica Conference, 2009

Conference date

2009-09-20 - 2009-09-22

Conference place

Como, Italy

Status

Published

Research group

  • LCCC