Abstract
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.
| Original language | English |
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| Publication status | Published - 2009 |
| Event | 7th International Modelica Conference, 2009 - Como, Italy Duration: 2009 Sept 20 → 2009 Sept 22 Conference number: 7 |
Conference
| Conference | 7th International Modelica Conference, 2009 |
|---|---|
| Country/Territory | Italy |
| City | Como |
| Period | 2009/09/20 → 2009/09/22 |
Subject classification (UKÄ)
- Control Engineering
Free keywords
- Modelica
- Optimica
- Optimization
- Robot Control