首页>
外国专利>
Calculation method of the robot and optimize rigidity with the junction of variable stiffness
Calculation method of the robot and optimize rigidity with the junction of variable stiffness
展开▼
机译:机器人的计算方法,并通过变刚度的交界处来优化刚度
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▼