Patent ID: 9701013
Date: 2017-07-11
CPC Classifications: B25J,G05B,G06F,Y10S

Claim:
1. A method for controlling a robot comprising at least one part that can be deformed by a set of actuators, each point of a set of points, called effecter points of the robot, having to follow a determined trajectory, the robot being defined by a model of nodes and a matrix K defining a variation of internal forces of the robot at each node as a function of a variation of position of the nodes, the method being characterized in that, to determine a control intended for each actuator on an i th control computation step: i/ values of the matrix K are updated as a function of a current position of the nodes of the robot; ii/ current values of a Jacobean matrix J of a vector δ(x) are determined, where x is a position vector of the nodes and the vector δ(x) includes at least one subset of lines relative to each effecter point and indicating coordinates of deviations between a position of said effecter point and its determined trajectory, and at least one subset of lines indicating a displacement of each actuator; iii/ values of a matrix W=J·K iv/ an equation δ=W·λ+δ v/ a control command intended for each actuator is deduced as a function at least of values determined in the step iv/ for the vector δ or λ.