Method for automatic load compensation for a cobot or an upper limb exoskeleton

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;
• applying an increasing command 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.