Method of controlling an actuator of a segment of an articulated robot collaborative effort has amplification

摘要

The invention relates to a method for controlling an actuator (20, 21, 22) of an articulated segment (12, 13, 14) of a collaborative robot (10) with force amplification, the actuator being controlled by a controller (23, 24, 25) comprising regulatable control parameters, the method comprising the steps of: synthesising a law of optimisation of control parameters of type H∞ satisfying the following performance objective: min (Il Wyh (s)Yrh(s)II∞) where Wyh (s)1 = 1/(Jr s) and in which Yrh(s) is the admittance of the robot (10) taken at the level of the actuator (21, 22, 23) in relation to the forces applied by the user to the collaborative robot (10), s being the Laplace variable, the synthesis of the law of optimisation being carried out taking into account at least one sensitivity function; regulating the controller (23, 24, 25); and controlling the actuator (23, 24, 25) of the articulated segment (12, 13, 14).