Method for automatic load compensation for a cobot or an upper limb exoskeleton
AssigneeCommissariat A L'energie Atomique Et Aux Energies Alternatives
InventorFranck Geffard
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Abstract
A control method for controlling an actuator (11) connected to a load (50) for handling, the method comprising the steps of: detecting an intention to handle the load (50); applying an increasing command to the actuator (11) until detecting a movement of the actuator (11); storing the value reached by the command when a movement of the actuator (11) is detected; using the stored value reached by the command to determine an estimate of the opposing force exerted by the load (50) for handling; and controlling the actuator by means of a force servocontrol relationship using the estimate of the opposing force exerted by the load (50) for handling in order to establish the commands to be applied to the actuator (11). A cobot (1) arranged to perform the method.
Claims15
A control method for controlling an actuator of a cobot, the actuator being functionally connected to a load for handling and being controlled by a monitor and control unit, the method comprising the steps of:
- detecting an intention of a user of the cobot to handle the load for handling;
- when the user and/or the cobot handle the load, applying an increasing command value to the actuator, seeking to cause the load for handling to move until detecting a movement of the actuator or of the load for handling or until detecting that the intention to handle the load for handling has ceased;
- storing the value reached by the command and/or by a sensor linked to the actuator when a movement of the actuator or of the load for handling is detected or when detecting that the intention to handle the load for handling has ceased;
- using the stored value reached by the command and/or by the sensor linked to the actuator to determine an estimate of the opposing force exerted by the load for handling;
- and
- controlling the actuator by means of a force servocontrol relationship using the estimate of the opposing force exerted by the load for handling in order to establish the commands to be applied to the actuator,
- resetting the value of the estimate of the opposing force exerted by the load for handling to zero when the intention to handle the load ceases to be detected.
Dependencies are inferred from the claim text.