Abstract
Abstract In this paper the possibilities of a flatness-based control system for a new high-dynamic machine tool with lambda kinematic and lightweight components are investigated. For this purpose, the inverse kinematics of the machine tool is analyzed and a multibody system model is developed. Based on the model the flatness of the system is verified and subsequently a flatness-based quasi-static controller is developed. Simulation results are shown for open- and closed-loop control. The nonlinear control system will be used as basis for a hierarchical control concept with active vibration damping in order to compensate system vibrations due to elasticities in the real machine, which is available for experiments.
Published Version
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