| 摘要 |
The object of the present invention is to greatly simplify the final control of a sensitive, active robot moving in a passive environment. It consists of equipping the robot with a plurality of directional proximetric transducers Ci, to which are allocated, for a given operating mode, virtual elementary actions making it possible to determine a control vector of the different actuators (4.1-4.2) responsible for the robot movements. The virtual elementary action allocated to each sensor is weighted by a virtual mass or coefficient mi. The center of gravity of the virtual masses mi preferably coincides with the control frame of the robot. The invention is more particularly usable in robotized remote manipulation. |
