Abstract
In this paper, Modelica along with Optimica is used to formulate and solve a minimum time optimization problem. The problem concerns the traversal of a given path with a robot in as short time as possible un-der input constraints. Several problem reformulations, increasing the chance of finding optimal solutions, are discussed. 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, is used on an ABB IRB140B to ensure ro-bustness for model errors and disturbances.
Cite
CITATION STYLE
Hast, M., Åkesson, J., & Robertsson, A. (2009). Optimal Robot Control Using Modelica and Optimica. In Proceedings of the 7 International Modelica Conference Como, Italy (Vol. 43, pp. 740–747). Linköping University Electronic Press. https://doi.org/10.3384/ecp09430089
Register to see more suggestions
Mendeley helps you to discover research relevant for your work.
