Modeling and Control of a Parallel Robot Using Modelica

Anders Robertsson; Isolde Dressler; Johannes Schiffer

Modeling and Control of a Parallel Robot Using Modelica

Anders Robertsson, Isolde Dressler, Johannes Schiffer

Institutionen för reglerteknik

Forskningsoutput: Konferensbidrag › Konferenspaper, ej i proceeding/ej förlagsutgivet › Peer review

Sammanfattning

A new type of high-performance robots has been developed by ABB Robotics, the Robotics Lab at Lund University and Güdel AG, Switzerland. In all parts of the project, ranging from the simulation of the kinematic configuration and reachable workspace, and kinematic and dynamic calibration/grey-box identification, and to code generation of controllers and optimal switching strategies for hybrid control, Modelica and Opti- mica provide very valuable functionality. We will make a short overview of the different aspects used during the development.

Originalspråk	engelska
Status	Published - 2009
Evenemang	7th International Modelica Conference - Como, Italien Varaktighet: 2009 sep. 15 → …

Konferens

Konferens	7th International Modelica Conference
Land/Territorium	Italien
Ort	Como
Period	2009/09/15 → …

Ämnesklassifikation (UKÄ)

Robotik och automation

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@conference{74d199badec54062ae323b1e05f711cd,

title = "Modeling and Control of a Parallel Robot Using Modelica",

abstract = "A new type of high-performance robots has been developed by ABB Robotics, the Robotics Lab at Lund University and G{\"u}del AG, Switzerland. In all parts of the project, ranging from the simulation of the kinematic configuration and reachable workspace, and kinematic and dynamic calibration/grey-box identification, and to code generation of controllers and optimal switching strategies for hybrid control, Modelica and Opti- mica provide very valuable functionality. We will make a short overview of the different aspects used during the development.",

keywords = "Robotics, Multi Body Systems, Dual motor control",

author = "Anders Robertsson and Isolde Dressler and Johannes Schiffer",

year = "2009",

language = "English",

note = "7th International Modelica Conference ; Conference date: 15-09-2009",

}

TY - CONF

T1 - Modeling and Control of a Parallel Robot Using Modelica

AU - Robertsson, Anders

AU - Dressler, Isolde

AU - Schiffer, Johannes

PY - 2009

Y1 - 2009

N2 - A new type of high-performance robots has been developed by ABB Robotics, the Robotics Lab at Lund University and Güdel AG, Switzerland. In all parts of the project, ranging from the simulation of the kinematic configuration and reachable workspace, and kinematic and dynamic calibration/grey-box identification, and to code generation of controllers and optimal switching strategies for hybrid control, Modelica and Opti- mica provide very valuable functionality. We will make a short overview of the different aspects used during the development.

AB - A new type of high-performance robots has been developed by ABB Robotics, the Robotics Lab at Lund University and Güdel AG, Switzerland. In all parts of the project, ranging from the simulation of the kinematic configuration and reachable workspace, and kinematic and dynamic calibration/grey-box identification, and to code generation of controllers and optimal switching strategies for hybrid control, Modelica and Opti- mica provide very valuable functionality. We will make a short overview of the different aspects used during the development.

KW - Robotics

KW - Multi Body Systems

KW - Dual motor control

M3 - Paper, not in proceeding

T2 - 7th International Modelica Conference

Y2 - 15 September 2009

ER -

Modeling and Control of a Parallel Robot Using Modelica

Sammanfattning

Konferens

Ämnesklassifikation (UKÄ)

Fingeravtryck

Citera det här