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Optimal Robot Control using Modelica and Optimica

Författare:
Publiceringsår: 2009
Språk: Engelska
Dokumenttyp: Konferensbidrag

Sammanfattning

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.

Disputation

Nyckelord

  • Technology and Engineering
  • Modelica
  • Optimica
  • Optimization
  • Robot Control

Övriga

7th International Modelica Conference 2009
2009-09-22
Como, Italy
Published
Yes
  • LCCC

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