Optimal Robot Control using Modelica and Optimica

Publication type: 
Conference paper
Author: 
Hast, M., Ã…kesson, J., Robertsson, R.
Publication: 
Proceedings of the 7th International Modelica Conference 2009
Publisher: 
Modelica Association
Year: 
2009
Abstract: 
<p>In this paper, Modelica along with Optimica has been used to formulate and solve a minimum time optimiza- tion problem. The problem concerns traversing a given path with a robot in as short time possible under in- put 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 ro- bustness for model errors and disturbances.</p>