Optimal Control and Path Following for Industrial Robots

Publication type: 
MSc thesis
Hast, Martin
Department of Automatic Control, Lund University
<p>When using industrial robots in production lines both speed and accuracy is of great importance. This thesis investigates how off-line optimization can be used to create references to a control structure with the aim of traversing a given path in as little time as possible, under given input constraints, without deviating from the path. In this thesis Modelica and Optimica is used to formulate and solve minimum time optimization problems. For the purpose of optimization, a model of an ABB IRB140B industrial robot was identified. A control structure known as a Path Velocity Controller has been implemented in Simulink with the objective to control the IRB140B. The implemented controller was then evaluated in simulations.</p>