Optimization of the trajectory of a robot manipulator for operations with flexible components. Mathematical explanation.

• Applicant: Professor Dr. Volodymyr Shramenko
• Subject Area: Automation, Mechatronics, Control Systems, Intelligent Technical Systems, Robotics
• Term: since 2025
• Project identifier: Deutsche Forschungsgemeinschaft (DFG) - Project number 567365885

In automotive production, robot manipulators perform operations with flexible components. For such operations, massive, cost-intensive grippers are used to prevent the components from vibrating. A new approach is to use small, universal grippers in combination with a robot trajectory optimized for each specific component, which minimizes the total cycle time - both the time to move the component and the damping of vibrations to an acceptable level at the end of the trajectory. This project aims to solve the problem of minimizing the cycle time. First, a simplified situation without rotation of the component is considered. An analytical and experimental investigation of the influence of various internal and external factors on the dynamics of the flexible component and on the overall cycle time is planned. This will allow an evaluation of the viability of the approach to develop an open-loop control system for the task under consideration. In addition, the development of a feedback control and the investigation of the controllability of the system are planned. Another focus is the development of an observer that can determine the system state with sufficient accuracy on the basis of a minimum possible number of sensors. This limitation of the measuring equipment is dictated by the conditions of real automobile production. Methods from the theory of distributed systems are used to achieve the set research objectives. Control approaches for the stabilization of flexible beams and plates are well studied in the scientific literature. However, there is a clear gap in the optimization of the manipulation of flexible structures by robot manipulators. Therefore, abstract results of time-optimal control are to be transferred to the case of manipulating a robot with a thin, flexible plate. Since the theory to be developed in the research project must be applicable to components of different geometries, an approach will be used that enables control based on simulations with the finite element method (FEM). An essential part of this project will be the mandatory validation of the theoretical results obtained on a test bench where a robot equipped with a universal gripper will perform manipulations with flexible automotive components.

• DFG Programme: WBP Position