CO-ORDINATION AND DYNAMIC CONTROL OF ROBOTS BY MICROPROCESSORS.

Several fundamental features of the problem of the command conception of automatic assembly oriented robots are studied. The problem of concern is: motion coordination for an articulated manipulator and the definition of structural functions well adapted to the corrective mechanisms essential to the assembly of parts of an object. A force sensor (two grips) was built to measure the external forces exerting on the manipulated object. The informations delivered by the sensor are then used by functions which realize the forces regulation. For the reversible systems, the estimation of inertial coefficients of the robot from appropriate motions is proposed.