首页>
外国专利>
ROBOT WITH JOINTS OF VARIABLE RIGIDITY AND METHOD FOR CALCULATING SAID OPTIMIZED RIGIDITY
ROBOT WITH JOINTS OF VARIABLE RIGIDITY AND METHOD FOR CALCULATING SAID OPTIMIZED RIGIDITY
展开▼
机译:具有可变刚度关节的机器人和计算最佳刚度的方法
展开▼
页面导航
摘要
著录项
相似文献
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.
展开▼