Optimal Robot Control Using Modelica and Optimica
Martin Hast, Johan Furunäs Åkesson, Anders Robertsson · Linköping electronic conference proceedings · 2009
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.