METHOD AND DEVICE FOR ADJUSTING AN ACTUATED MECHANICAL SYSTEM

Abstract

The invention relates to a method and to a device for adjusting an actuated mechanical system (ROB), in which closed-loop control of the actuated mechanical system is implemented with respect to a physical quantity issued by at least one sensor (CAP). According to the invention, during a first identification step, a first transfer function PID is selected in accordance with a first adjustment of the controller (CONT2), during a second step, a second transfer function (G) is determined, giving the measured value (Fm) on the basis of the movement quantity ([Delta]Xd) calculated during the course of the first step, during a third step, a control law of the second controller (CONT2) is selected in accordance with a second adjustment of the controller (CONT2), said law being determined from at least the second transfer function (G) to give the movement quantity ([Delta]Xd); present on the second output (S2)