Optimal Tracking and Identification of Paths for Industrial Robots

Björn Olofsson, Henrik Nilsson, Anders Robertsson, Johan Åkesson

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Abstract

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.
Original languageEnglish
Title of host publicationProceedings of the 18th IFAC World Congress, 2011
PublisherIFAC
Pages1126-1132
Publication statusPublished - 2011
Event18th IFAC World Congress, 2011 - Milan, Italy
Duration: 2011 Aug 282011 Sep 2
Conference number: 18

Conference

Conference18th IFAC World Congress, 2011
Country/TerritoryItaly
CityMilan
Period2011/08/282011/09/02

Bibliographical note

key=bo+IFAC2011
project=proflexa,robot,LCCC-modeling

Subject classification (UKÄ)

  • Control Engineering

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