Method for controlling a segment of an arm of a co-manipulator
AssigneeCommissariat A L'energie Atomique Et Aux Energies Alternatives
InventorNeil Abroug
Life of this patent
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Abstract
A method for controlling an actuator of a hinged segment including the steps of: estimating an inertia J of the segment and a minimum viscous hinge friction f; estimating or measuring a traveling speed {dot over (X)} of the segment and an internal deformation ΔX of the actuator; synthesizing a control law H∞ generating a control current (or torque) from the estimates or measurements and meeting a performance objective pertaining to a transfer function (I) between an acceleration {umlaut over (X)} of the segment and an external force F to which the segment is subjected: (II) with (III), ε being a mathematical artifact and s being the Laplace variable; and controlling the actuation of the hinged segment according to the control law thus synthesized.
Claims2
A method for controlling an actuator of an articulated segment comprising the following steps:
- estimating an inertia J of the articulated segment and a minimum articulation viscous friction f;
- estimating or measuring a speed of movement {dot over (X)} of the articulated segment and an internal deformation ΔX of the actuator;
- synthesizing a control law of the H∞ type generating a control torque based on these estimations or measurements and meeting a performance objective relating to a transfer function
- G
-
- (
- s
- )
- =
- X
- ¨
- F
- between an acceleration {umlaut over (X)} of the articulated segment and an external force F applied to the articulated segment:
- ∥G(s)Ws(s)∥∞≦1 with
- W
- s
-
- (
- s
- )
- =
- (
- s
- +
- ɛ
- J
-
-
- s
- +
- f
- )
- -
- 1
- ,
- ε being a mathematical artifact and s the Laplace variable;
- applying constraint to solve the performance objective relating to the transfer function;
- controlling the actuator of the articulated segment according to the control law thus synthesized.
Dependencies are inferred from the claim text.