Modeling and Control of a Parallel Robot Using Modelica

Isolde Dressler
Department of Automatic Control, Lund University, Sweden

Johannes Schiffer
Department of Automatic Control, Lund University, Sweden \ Institute for System Theory and Automatic Control, University of Stuttgart, Germany

Anders Robersson
Department of Automatic Control, Lund University, Sweden

Ladda ner artikelhttp://dx.doi.org/10.3384/ecp09430118

Ingår i: Proceedings of the 7th International Modelica Conference; Como; Italy; 20-22 September 2009

Linköping Electronic Conference Proceedings 43:28, s. 261-269

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Publicerad: 2009-12-29

ISBN: 978-91-7393-513-5

ISSN: 1650-3686 (tryckt), 1650-3740 (online)


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 Optimica provide very valuable functionality. We will make a short overview of the different aspects usedduring the development.


Robotics; Multi Body Systems; Dual motor control


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