Robot joint with variable stiffness and calculation process such rigidity optimized

摘要

Robot (100) having navigation capabilities in at least one articulated chain (110) comprising at least one sensor (130) contact the end of said chain with the surface (120) of displacement, said track comprising at least a hinge (140) controlled said joint by an electric motor (210) controlled by a command position and / or speed and by means of current limitation and / or the torque applied by said motor to said articulation, characterized said robot it comprises also: a) a first logic (310) for calculating the torque joint as being solution of an equation that models the dynamic balance of the robot between, on the one hand, the sum of the difference of the inertial forces due to the angular acceleration joint and the acceleration of gravity and the effect of the Coriolis forces and centrifugal and, moreover, the amount of torque and contact forces, friction and disturbance, applying said torque force to said joint, a part of the effects of inertial forces due to the angular acceleration of the joint forces of Coriolis and centrifugal and frictional forces modeling itself by a shift, b) second logic (320) configured to define said calculation current limiting and / or applied torque from the torque joint calculated by said first logic calculation for the joint.