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Industrial Robot Control

The Institute of Robotics and Mechatronics of the DLR has a contracted cooperation with the robot manufacturer KUKA. The main issues are to improve the dynamic performance of industrial robots by optimizing feedforward and feedback control laws. Based on non-linear dynamic robot models, feedforward control is used to maximize robot speed of the reference trajectory, and feedback control is used to improve contour following by vibration attenuation.

During the last years, DLR successfully developed algorithms, optimization environments, and simulation tools which used to improve the robots performance. See the topics below for more information.

Rapid Control Prototyping in a HiL-Optimization Environment


As the main aim for control engineers in the field of industrial robotic is basically to enhance velocity and accuracy of the treated structure, more and more powerful systems for the design and optimization process are developed.
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Optimal Motion Planning
The algorithms of Optimal Motion Planning for industrial robots have the goal to move the robot as fast as possible in order to minimize cycle time. Constraints, such as maximum motor and gear box torques or maximum motor speeds should be automatically taken into account by means of suitable model based real-time algorithms.
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Realtime Simulation


In the EU-project RealSim (Real-time Simulation for Design of Multi-physics Systems) DLR and KUKA worked together to develop methods and tools that ease the design of new robots or of variants of existing robots by taking into account the interaction of mechanics, electronics and software systems of a robot early in the design phase.
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c-rob++
c-rob++ exploits code synthesis from high level intuitive and convenient multi-body system (MBS) model descriptions. It relies on an object-oriented C++ library of MBS components tailored to the computations required for example in robot control such as forward and inverse kinematics, and inverse dynamics.
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Project PAPAS


PAPAS – Plug-And-Play Antriebs- und Steuerungskonzepte für die Produktion von Morgen.
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