Method of controlling a robotized arm segment making it possible to adapt the apparent stiffness thereof

Abstract

The invention relates to a method of control ling an actuator (1) of an articulated segment (5) comprising the steps of estimating an inertia J of the segment; estimating or measuring a speed of displacement (I) of the segment; synthesizing a control law of type (II) generating a control torque for the segment on the basis of these estimates or measurements and meeting a performance objective pertaining to the loading sensitivity function: (III) K being the desired stiffness, and c a desired damping rate, a a mathematical artifact, (IV), where G(s) is the transfer function (V) for going between the speed (I) (linear or angular) of the segment and an external force F experienced by the segment; and controlling the actuator of the articulated segment according to the control law thus synthesized. X . ( I ) H ∞ ( II )  S F  ( s )  W S  ( s )  ∞ ≤ 1   avec   W s  ( s ) = ( J s 2 + ɛ J s 2 + cs + K ) - 1 ( III ) S F  ( s ) = G  ( s ) · J · s ( IV ) G  ( s ) = X .  /  F ( V )

Dependencies are inferred from the claim text.