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ROBOT WITH JOINTS OF VARIABLE RIGIDITY AND METHOD FOR CALCULATING SAID OPTIMIZED RIGIDITY

机译:具有可变刚度关节的机器人和计算最佳刚度的方法

摘要

A jointed robot capable to move on a surface is provided. It is known to limit to a predefined fixed value the torque that the motors of the joints of the robot can develop. A rigidity coefficient corresponding to the limit torque is calculated by solving a dynamic equilibrium model of the robot. The contact points of the characteristic effectors are determined by a selection from a list of potential effectors, notably as a function of a criterion of distance from a virtual ground plane. The contact forces for said effectors are calculated by optimal resolution of the equilibrium equations. Finally the torques applied in the dynamic equilibrium model of the robot and the coefficients of corresponding rigidity are calculated.
机译:提供了一种能够在表面上移动的关节机器人。已知将机器人的关节的马达可以产生的扭矩限制为预定的固定值。通过求解机器人的动态平衡模型来计算与极限转矩相对应的刚度系数。通过从潜在效应器列表中进行选择来确定特征效应器的接触点,特别是根据与虚拟接地平面的距离标准来确定。所述效应器的接触力通过平衡方程的最佳分辨率来计算。最后,计算了机器人动态平衡模型中施加的扭矩和相应的刚度系数。

著录项

  • 公开/公告号US2015343633A1

    专利类型

  • 公开/公告日2015-12-03

    原文格式PDF

  • 申请/专利权人 CYRILLE COLLETTE;DAVID GOUAILLIER;

    申请/专利号US201214236802

  • 发明设计人 CYRILLE COLLETTE;DAVID GOUAILLIER;

    申请日2012-08-03

  • 分类号B25J9/16;B62D57/032;G05B13/04;G05B19/19;G05B19/4062;

  • 国家 US

  • 入库时间 2022-08-21 14:34:25

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