Optimal Tracking and Identification of Paths for Industrial Robots
Författare
Summary, in English
This paper presents results from time-optimal path tracking for industrial robots. More specifically, three subproblems are studied and experimentally evaluated. The first is a contact-force control approach for determining the geometric robot motion, such that the tool centre point of the robot is moved according to the specification. The second problem is off-line solution of the optimisation problem describing the time-optimal path tracking problem, by using software which allows highlevel implementation and solution of optimisation problems. The third problem is robust control of the robot during real-time path tracking based on the optimisation results determined off-line. An earlier developed control structure for robust control is implemented and tested in a robot system. This paper discusses the theory behind time-optimal path tracking and presents experimental results. Both contact-force controlled path identification and real-time path tracking of the identified path are evaluated on a 6-DOF industrial robot of type IRB140 from ABB.
Avdelning/ar
Publiceringsår
2011
Språk
Engelska
Sidor
1126-1132
Publikation/Tidskrift/Serie
Proceedings of the 18th IFAC World Congress, 2011
Fulltext
Dokumenttyp
Konferensbidrag
Förlag
IFAC
Ämne
- Control Engineering
Conference name
18th IFAC World Congress, 2011
Conference date
2011-08-28 - 2011-09-02
Conference place
Milan, Italy
Status
Published
Projekt
- LCCC
- ProFlexa
- RobotLab LTH
Forskningsgrupp
- LCCC