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

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...

Ausführliche Beschreibung

Gespeichert in:

Bibliographische Detailangaben
1. Verfasser:	Geffard, Franck
Format:	Patent
Sprache:	eng
Schlagworte:	ARTIFICIAL RESPIRATION BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSESOR SPECIFIC PARTS OF THE BODY HUMAN NECESSITIES HYGIENE MASSAGE MEDICAL OR VETERINARY SCIENCE PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING ORSTIMULATING REFLEX POINTS IN THE BODY
Online-Zugang:	Volltext bestellen
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!

Beschreibung
Zusammenfassung:	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; andcontrolling 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.