Under CopyrightScharf, PhilipPhilipScharf2025-06-032025-06-032025https://doi.org/10.24406/publica-4728https://publica.fraunhofer.de/handle/publica/48819610.24406/publica-4728Virtual commissioning (VC) allows the early detection of errors in the control system and optimisation of control strategies using a digital twin of the machine hardware. This contribution implements algorithms for computing compliant systems in a VC tool. This enables the utilisation of the advantages of VC for the development of control systems for compliant robots. For this purpose, two dynamic algorithms are implemented modularly in an industrially used VC tool. The developed models of compliant behaviour are verified against a reference model. The low complexity and high modularity of the solution allows for the simulation of the dynamic behaviour of a compliant robot in a real-time hardwarein-the-loop simulation. Finally, potential enhancements for improving simulation accuracy and efficiency are shown.enVirtual commissioningSimulationReal time capabilityHardware-in-the-loop simulationCompliant Multibody System600 Technik, Medizin, angewandte Wissenschaften::620 Ingenieurwissenschaftenpresentation