{"id":1035,"date":"2025-09-05T13:26:45","date_gmt":"2025-09-05T11:26:45","guid":{"rendered":"https:\/\/blog.rwth-aachen.de\/robotik\/?p=1035"},"modified":"2025-09-05T13:26:45","modified_gmt":"2025-09-05T11:26:45","slug":"optimalsteuerung-zur-schwingungsunterdrueckung","status":"publish","type":"post","link":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/optimalsteuerung-zur-schwingungsunterdrueckung\/","title":{"rendered":"Optimal Control to Suppress Vibrations"},"content":{"rendered":"<p><br \/>\n<\/span><\/span><\/p>\n<div class=\"lyte-wrapper\" title=\"Optimalsteuerung zur Schwingungsunterdr&uuml;ckung\" style=\"width:853px;max-width:100%;margin:5px auto;\"><div class=\"lyMe\" id=\"WYL_Hb20l-cohDU\"><div id=\"lyte_Hb20l-cohDU\" data-src=\"https:\/\/i.ytimg.com\/vi\/Hb20l-cohDU\/hqdefault.jpg\" class=\"pL\"><div class=\"tC\"><div class=\"tT\">Optimalsteuerung zur Schwingungsunterdr\u00fcckung<\/div><\/div><div class=\"play\"><\/div><div class=\"ctrl\"><div class=\"Lctrl\"><\/div><div class=\"Rctrl\"><\/div><\/div><\/div><noscript><a href=\"https:\/\/youtu.be\/Hb20l-cohDU\" rel=\"nofollow\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/i.ytimg.com\/vi\/Hb20l-cohDU\/0.jpg\" alt=\"Optimalsteuerung zur Schwingungsunterdr&uuml;ckung\" width=\"853\" height=\"460\" \/><br \/>Watch this video on YouTube<\/a><\/noscript><\/div><\/div><div class=\"lL\" style=\"max-width:100%;width:853px;margin:5px auto;\"><br\/><span class=\"lyte_disclaimer\">Der an dieser Stelle eingebundene Inhalt f\u00fchrt Sie auf Seiten, die von der von Google betriebenen Seite YouTube - YouTube, LLC, 901 Cherry Ave., San Bruno, CA 94066, USA - zur Verf\u00fcgung gestellt werden. Mit dem Aufruf des Inhalts kann YouTube Ihre IP-Adresse und die Sprache des Systems, sowie verschiedene browserspezifische Angaben ermitteln.  Wenn Sie in Ihrem YouTube-Account eingeloggt sind, erm\u00f6glichen Sie YouTube, Ihr Surfverhalten direkt Ihrem pers\u00f6nlichen Profil zuzuordnen. Dies k\u00f6nnen Sie verhindern, indem Sie sich aus Ihrem YouTube-Account ausloggen.  YouTube verwendet Cookies und Tracking-Tools. Die Datenverarbeitungsvorg\u00e4nge sowie die Zwecke der Verarbeitung k\u00f6nnen direkt bei YouTube erfragt und eingesehen werden.<\/span><\/div><\/p>\n<p>&nbsp;<\/p>\n<p><span class=\"yt-core-attributed-string yt-core-attributed-string--white-space-pre-wrap\" dir=\"auto\"><span class=\"yt-core-attributed-string--link-inherit-color\" dir=\"auto\">In pick-and-place tasks, which are often implemented with delta robots in industrial practice, short cycle times are desired. These lead to high accelerations of the robot and thus to high inertial forces, which cause the frame to vibrate. The frame vibrations reduce the performance and positioning accuracy of the robot and lead to material fatigue. To reduce frame vibrations, we have developed an optimal control approach that calculates vibration-reducing trajectories. To reduce vibrations, the free frame vibration is suppressed at the end of the trajectory. The chosen approach optimizes the trajectory holistically, i.e., both the geometric path and the motion law along the path are optimized. The optimization uses a multibody simulation model that was constructed with the aid of experimental system identification. Application- and robot-specific boundary conditions can be taken into account in the calculation of vibration-reducing trajectories.<\/span><\/span><\/p>\n<p>contact:<br \/>\n<a href=\"https:\/\/www.igmr.rwth-aachen.de\/cms\/igmr\/Das-Institut\/Team\/~xxfdq\/Nils-Brueckmann-M-Sc-RWTH\/\">Nils Br\u00fcckmann\u00a0<\/a><br \/>\n<a href=\"https:\/\/www.igmr.rwth-aachen.de\/cms\/igmr\/Das-Institut\/Team\/~thurn\/Christian-Mirz-M-Sc-RWTH\/\">Christian Mirz\u00a0<\/a><\/p>\n<p><span class=\"yt-core-attributed-string yt-core-attributed-string--white-space-pre-wrap\" dir=\"auto\"><span class=\"yt-core-attributed-string--link-inherit-color\" dir=\"auto\">Preprint of the corresponding paper can be found <a href=\"https:\/\/papers.ssrn.com\/sol3\/papers.cfm?abstract_id=5430699\">here<\/a>.<br \/>\nFurther information on the Delta robot can be found <a href=\"https:\/\/www.igmr.rwth-aachen.de\/cms\/igmr\/forschung\/projekte\/abgeschlossene-projekte\/~xptfx\/delta\/\">here<\/a>.\u00a0<\/span><\/span><\/p>","protected":false},"excerpt":{"rendered":"<p>Optimalsteuerung zur Schwingungsunterdr\u00fcckungWatch this video on YouTubeDer an dieser Stelle eingebundene Inhalt f\u00fchrt Sie auf Seiten, die von der von Google betriebenen Seite YouTube &#8211; YouTube, LLC, 901 Cherry Ave., [&hellip;]<\/p>\n","protected":false},"author":3799,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"c2c_always_allow_admin_comments":false,"footnotes":""},"categories":[129,11,106],"tags":[157,15,134],"class_list":["post-1035","post","type-post","status-publish","format-standard","hentry","category-parameteridentifikation","category-simulationen","category-trajektorie","tag-parameteridentifikation","tag-simulationen","tag-trajektorie"],"_links":{"self":[{"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/posts\/1035","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/users\/3799"}],"replies":[{"embeddable":true,"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/comments?post=1035"}],"version-history":[{"count":2,"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/posts\/1035\/revisions"}],"predecessor-version":[{"id":1037,"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/posts\/1035\/revisions\/1037"}],"wp:attachment":[{"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/media?parent=1035"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/categories?post=1035"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/tags?post=1035"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}