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Optimal Robot Control using Modelica and Optimica

Publiceringsår: 2009
Språk: Engelska
Dokumenttyp: Konferensbidrag


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.


  • Control Engineering
  • Modelica
  • Optimica
  • Optimization
  • Robot Control


7th International Modelica Conference, 2009
  • LCCC-lup-obsolete

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