Optimal Robot Control Using Modelica and Optimica

Hast, Martin; Åkesson, Johan; Robertsson, Anders

doi:10.3384/ecp09430089

Cited by 4 publications

(5 citation statements)

References 3 publications

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“…For example, in [10] optimal tracks for racing cars were optimized, and in [45], optimal rail profiles were computed for a novel mass transportation system, the NoWait train concept. Other examples where Optimica has been used are reported in [25] where minimum time optimization for an industrial robot is considered and in [24] where an optimal control application of a pendulum system is reported.…”

Section: Dynamic Optimizationmentioning

confidence: 99%

Modeling and Optimization with Modelica and Optimica Using the JModelica.org Open Source Platform

Åkesson¹,

Bergdahl²,

Gäfvert³

et al. 2009

Linköping Electronic Conference Proceedings

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This paper reports a new Modelica-based open source project entitled JModelica.org, targeted towards dynamic optimization. The objective of the project is to bridge the gap between the need for high-level description languages and the details of numerical optimization algorithms. JModelica.org is also intended as an extensible platform where algorithm developers, particularly in the academic community, may integrate new and innovative methods. In doing so, researchers gain access to a wealth of industrially relevant optimization problems based on existing Modelica models, while at the same time facilitating industrial use of state of the art algorithms. In this contribution, an overview of the platform is presented and the main features of JModelica.org are highlighted.

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Section: Dynamic Optimizationmentioning

confidence: 99%

Modeling and Optimization with Modelica and Optimica Using the JModelica.org Open Source Platform

Åkesson¹,

Bergdahl²,

Gäfvert³

et al. 2009

Linköping Electronic Conference Proceedings

Self Cite

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“…Finally, section 6 summarizes the work and provides possible future work. Modelica has been used for modeling spider robotic arm [7], 6-axis industrial robots [8,9,10], 3 DOFs parallel Gantry-Tau robot [11], 5 DOFs manipulator [12] and mobile platforms [13,14]. In most cases, a robot model in Modelica is used for investigating the manipulator's motion control especially in the domain of optimization and system dynamics.…”

Section: Introductionmentioning

confidence: 99%

“…Such research requires the repetition of motions and adjustments to the controller which can have damaging effect when being executed on a real robot. [9] performed optimization through iteration to find a compromise between acceleration, velocity and energy consumption and [10] solved the minimum time optimization problem for an industrial robot. [8] derives the inverse dynamic model of a manipulator using algorithms for differential-algebraic equation available in the Dymola 1 software.…”

Section: Introductionmentioning

confidence: 99%

Modelica Model for the youBot Manipulator

Dwiputra¹,

Zakharov²,

Chakirov³

et al. 2014

Linköping Electronic Conference Proceedings

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This paper presents the development of Modelica model for the youBot manipulator. Whereas other robotic simulations focus on the robot interaction with its environment, Modelica allows the modeling of the manipulator controllers and motors. The model was developed with a Modelica library for the manipulator's components which provides modularity, reusability and abstraction. A comparison test with the actual system is performed to ensure the model accuracy. The test result shows promising result and provides possible future work. The Modelica model of the youBot manipulator is freely available.

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“…In the literature, research related to dynamic optimization with Optimica is limited to a few applications which have been demonstrated and solved. Examples of such applications are model predictive control of a continuously stirred tank reactor containing an exothermic reaction [4], distillation column load change [4], industrial robot minimum time problem [5] and a cart and pendulum minimum time [6].…”

Section: Introductionmentioning

confidence: 99%

Double Arm Robot Design, Control and Optimization using Modelica and Optimica

Breitsprecher

Wartzack²,

Erlangen-Nürnberg³

et al. 2012

Parallel and Distributed Computing and Systems / 790: Software Engineering and Applications

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A double arm robot is analyzed using the Modelica and Optimica software tools. Modelica is a tool for modeling complex physical systems whereas Optimica is provided by Jmodelica.org and is a recent easy-to-use extensible Modelica-based source for dynamic optimization. The double arm robot was not previously optimized with Optimica. The robot system consists of two rigid arms and two motors to actuate the two arms. The optimization algorithm objective is to move the tip of the robot from one position to another in a certain time with the least energy consumption. In order to program the optimization algorithm in Optimica it is necessary to write the differential equations of motion for the system which are derived using the Lagrangian's formula. The optimization algorithm for the double arm robot is programmed in Optimica and the results are plotted and compared. Furthermore, a closed loop PID controller is implemented for each actuator in Modelica with the objective of moving the tip of the robot from one position to another. The simulation results of the controlled robot are shown and compared with those of Optimica.

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Optimal Robot Control Using Modelica and Optimica

Cited by 4 publications

References 3 publications

Modeling and Optimization with Modelica and Optimica Using the JModelica.org Open Source Platform

Modeling and Optimization with Modelica and Optimica Using the JModelica.org Open Source Platform

Modelica Model for the youBot Manipulator

Double Arm Robot Design, Control and Optimization using Modelica and Optimica

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