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.