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Modeling and Control of a Parallel Robot Using Modelica

In English

Författare

Summary, in English

A new type of high-performance robots has been developed by ABB Robotics, the Robotics Lab at Lund University and Güdel AG, Switzerland. In all parts of the project, ranging from the simulation of the kinematic configuration and reachable workspace, and kinematic and dynamic calibration/grey-box identification, and to code generation of controllers and optimal switching strategies for hybrid control, Modelica and Opti- mica provide very valuable functionality. We will make a short overview of the different aspects used during the development.

Publiceringsår

2009

Språk

Engelska

Dokumenttyp

Konferensbidrag

Ämne

  • Robotics

Nyckelord

  • Robotics
  • Multi Body Systems
  • Dual motor control

Conference name

7th International Modelica Conference

Conference date

2009-09-15

Conference place

Como, Italy

Status

Published

Forskningsgrupp

  • LCCC