METHOD FOR CONTROLLING AN ACTUATOR OF AN ARTICULATED SEGMENT OF A COLLABORATIVE ROBOT WITH EFFORT AMPLIFICATION

摘要

A method of controlling an actuator (20,21,22) of an articulated segment (12,13,14) of a collaborative robot (10) with effort amplification, the actuator being controlled by a controller (23) , 24, 25) comprising adjustable control parameters, the method comprising the steps of: synthesizing an H de type control parameter optimization law satisfying the following performance objective: min (|| Wyh (s) Yrh (s) || ∞) with Wyh (s) 1 = 1 / (Jr s) and in which Yrh (s) is the admittance of the robot (10) considered at the level of the actuator (21,22, 23) vis-à-vis the efforts applied by the user on the collaborative robot (10), where s is the Laplace variable, the synthesis of the optimization law taking into account one or more sensitivity functions - set the controller (23,24,25); - control the actuator (23,24,25) of the articulated segment (12,13,14).