Bending method and bending machine for the execution of a bending method

A method of a bending machine adapted to bend a metallic article along a longitudinal axis, for obtaining a determined bended article comprising at least the following steps:

• executing a relative movement between a bending head of the bending machine, said bending head having at least one bending group, and the metallic article;
• and
• activating the at least one bending group to bend the metallic article;
• wherein during the activating of the at least one bending group, at least a first actuation device actuates the at least one bending group according to a respective first motion profile for executing a respective bending of the metallic article;
• wherein during the executing of the relative movement, at least a second actuation device actuates the relative movement between the bending head and the metallic article according to a respective second motion profile;
• wherein the method further comprises modifying, prior to an actuation of the at least one bending group by the first actuation device and an actuation of the relative movement by the second actuation device, a first initial motion profile of the first actuation device to obtain the respective first motion profile to be used during the actuation of the at least one bending group and a second initial motion profile of the second actuation device to obtain the respective second motion profile to be used during the actuation of the relative movement;
• wherein during the modifying of the first initial motion profile and the second initial motion profile, the first initial motion profile is modified in function of a first parameter and of a second parameter and the second initial motion profile is modified in function of a third parameter and a fourth parameter;
• wherein the first parameter depends on a first oscillation frequency of a first damped harmonic oscillator which models the oscillations of the metallic article resulting from the application of the respective first motion profile of the respective first actuation device and the second parameter depends on a first damping of the oscillations of the first damped harmonic oscillator;
• wherein the third parameter depends on a second oscillation frequency of a second damped harmonic oscillator which models the oscillations of the metallic article resulting from the application of the respective second motion profile of the respective second actuation device and the fourth parameter depends on a second damping of the oscillations of the second damped harmonic oscillator.