Handling flexible Structures

Model-based Control

In many production processes, every millisecond matters. However, ever faster movements of the components often lead to unwanted vibrations which slow down the process again and also mean additional loads for the mechanical components. In most robot control systems, however, no consideration is given to the elastic properties of the components to be transported. However, if these elastic properties of the components are already taken into account in the planning of the movement (trajectory planning), both shorter cycle times and reduced vibrations can be achieved. In this project example, the concept is demonstrated using a very elastic beam: In trajectory planning, a simple model of the beam is used and thus a path with as little vibration as possible is planned. Afterwards, the code for controlling the robot can be exported automatically. For the virtual commissioning, a standardized software module (a so-called functional mockup unit or FMU) can also be exported in order to test the control in advance in the simulation.