Martin Hast
Department of Automatic Control, LTH, Lund University, Sweden
Johan Åkesson
Department of Automatic Control, LTH, Lund University, Sweden \ Modelon AB, Sweden
Anders Robersson
Department of Automatic Control, LTH, Lund University, Sweden
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http://dx.doi.org/10.3384/ecp09430089Published in: Proceedings of the 7th International Modelica Conference; Como; Italy; 20-22 September 2009
Linköping Electronic Conference Proceedings 43:87, p. 740-747
Published: 2009-12-29
ISBN: 978-91-7393-513-5
ISSN: 1650-3686 (print), 1650-3740 (online)
In this paper; Modelica along with Optimica is used to formulate and solve a minimum time optimization problem. The problem concerns the traversal of a given path with a robot in as short time as possible under input constraints. Several problem reformulations; increasing the chance of finding optimal solutions; are discussed. 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; is used on an ABB IRB140B to ensure robustness for model errors and disturbances.
