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Performance Analysis of Elastic Band Based Time Optimal Control Formulations for Industrial Robots
KTH, School of Electrical Engineering and Computer Science (EECS).
2019 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Industrial robots are becoming an integral part of the production industry. Efficientoperation with respect to fast movements is critical to increase the economicbenefits of automating the production line. Facilitating near optimalitywith regards to time has high computational demands however and multipleframeworks have been suggested to remedy this. In this thesis we consider oneof these frameworks, namely the elastic band framework. We investigate howthe elastic band time optimal control framework performs regarding computationaltime for point-to-point movements on a SCARA type robot with threerevolute and one prismatic joint. We compare an unconstrained elastic bandformulation with a constrained formulation in the open loop, along with simulatingperformance in the closed-loop. We show that a constrained formulationwhich considers the sparseness of underlying matrices in the optimizationproblem has the lowest computational time. Additionally, we show that the unconstrainedformulation benefits from early stopping. Finally, we show that acontroller implementing this formulation can be used in a model predictivecontroller, although the computational time is still too high for commercialuse on the hardware used in testing.

Abstract [sv]

Industrirobotar har blivit en viktig del av produktionsindustrin. Effektiv driftmed avseende på snabba rörelser är avgörande för att öka de ekonomiska fördelarnaav att använda industrirobotar. I detta examensarbete analyserar vi hurdet så kallade elastic band-ramvärket presterar med avseende på beräkningstidför poit-to-point rörelser på en robot av typ SCARA med tre roterande led ochett prismatikt led. I synnerhet jämför vi en formulering med bivilkor med enformulering där bivilkoren inkorporerats i kostnadsfunktionen. Vi simulerarockså prestanda i ett slutet system. Vi visar att formulering med bivilkor somtar hänsyn till de underliggande matrisernas gleshet har den lägsta beräkningstiden. Vidare visar vi att lösande av optimeringsproblemet för formuleringendär bivilkoren inkorporerats i kostnadsfunktionen kan stoppas tidigt utanstörre försämring av resultat. Till sist visar vi att en regulator som implmenterardenna formulering kan användas i MPC styrning. Beräkningstiden är dockfortfarande för hög för kommersiell användning på hårdvaran som användes idetta exjobb.

Place, publisher, year, edition, pages
2019. , p. 76
Series
TRITA-EECS-EX ; 2019:415
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-260073OAI: oai:DiVA.org:kth-260073DiVA, id: diva2:1354472
External cooperation
ABB
Educational program
Master of Science - Systems, Control and Robotics
Supervisors
Examiners
Available from: 2019-09-25 Created: 2019-09-25 Last updated: 2019-09-25Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
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