Concepts of Modeling and Control of Industrial Articulated Robots for Efficient, Sustainable and Safe Production

0427609 - ÚTIA 2015 RIV DE eng C - Conference Paper (international conference)
Belda, Květoslav - Záda, V.
Concepts of Modeling and Control of Industrial Articulated Robots for Efficient, Sustainable and Safe Production.
3rd International Chemnitz Manufacturing Colloquium. ICMC 2014. Proceedings Part 1. Chemnitz: Fraunhofer IWU, 2014 - (Neugebauer, R.), s. 571-582. Reports from the IWU, 80. ISBN 978-3-95735-004-6.
[3rd International Chemnitz Manufacturing Colloquium. ICMC 2014. Chemnitz (DE), 07.04.2014-09.04.2014]
R&D Projects: GA ČR(CZ) GAP102/11/0437
Institutional support: RVO:67985556
Keywords : Modeling * Control * Manipulator
Subject RIV: JD - Computer Applications, Robotics
http://library.utia.cas.cz/separaty/2014/AS/belda-0427609.pdf

The paper deals with advanced modeling and model-based control design concepts for an optimal robot motion and monitoring for safe and efficient operation. The explanation aims at concepts for the composition of suitable mathematical models of robot kinematics and dynamics. In the paper, a control design concept via model-based predictive control is introduced. The design and monitoring of recommended reference signals for safe and efficient process control are discussed. The concepts are demonstrated on six-axis multipurpose robot ABB IRB 140. This robot belongs to the considered class of industrial articulated robots-manipulators.
Permanent Link: http://hdl.handle.net/11104/0233602