Optimal Tracking and Identification of Paths for Industrial Robots
Björn Olofsson, Henrik Nilsson, Anders Robertsson, Johan Åkesson
This paper presents results from time-optimal path tracking for industrial robots. More specifically, three subproblems are studied and experimentally evaluated. The first is a contact-force control approach for determining the geometric robot motion, such that the tool centre point of the robot is moved according to the specification. The second problem is off-line solution of the optimisation problem describing the time-optimal path tracking problem, by using software which allows highlevel implementation and solution of optimisation problems. The third problem is robust control of the robot during real-time path tracking based on the optimisation results determined off-line. An earlier developed control structure for robust control is implemented and tested in a robot system. This paper discusses the theory behind time-optimal path tracking and presents experimental results. Both contact-force controlled path identification and real-time path tracking of the identified path are evaluated on a 6-DOF industrial robot of type IRB140 from ABB.
In Proc. 18th World Congress of the International Federation of Automatic Control (IFAC), Milano, Italy, In 18th IFAC World Congress, Milano, Italy, August 2011.