Advanced model-based robot control in Reis ROBOTstarV

In a research project that was funded by the German Federal Government Department of Research an advanced robot control method was conceived and realised, in which a dynamic robot model is integrated in the joint control of the robot Reis RV6. By this model-based control method the path deviations are substantially reduced. This leads to a decrease of actuator input values and thus to lower loads at the actuators and to an improved control behaviour of the robot. As a result, both significant improvements in the path accuracy at high path dynamics and substantially reduced loads of motors and gears have been achieved. The new control method gives an important contribution to higher quality and productivity and also to higher service lives in many application cases.