Dynamics-Based Feedforward Control of CNC-Controlled Robots Using Digital Twins from Virtual Commissioning with Extended Dynamical Behavior

Conventional CNC controllers, originally devel- oped for machine tools, are increasingly used to control robotic systems. However, their decentralized axis structure and kinematic abstraction limit dynamic performance compared to dedicated robot controllers. To address this limitation, this paper presents a methodology for integrating dynamics- based feedforward control within CNC-controlled robots by reusing digital twins from virtual commissioning. The approach extends existing virtual models with inverse dynamics through standardized interfaces and deploys them directly on the CNC controller as real-time digital twins. These models generate feedforward torque signals that complement conventional feed- back control, improving trajectory tracking without modifying the CNC architecture. The main contibution lies in a gener- alizable workflow that links simulation, commissioning, and operation within a unified framework. The method is validated experimentally on a Delta robot, demonstrating significant reductions in tracking error and showing that the approach can be readily adapted to other CNC-controlled robotic systems.