Abstract: A process of controlling an industrial robot includes the steps of calculating, in a calculation module, a control articular force setpoint of the axis controller module; calculating, in an articular converter, the articular conversion matrix from articular positions; providing the axis controller module with the multi-dimensional external forces exerted on the effector; calculating, in the axis controller module, the vector of the articular forces; calculating, in the axis controller module, the current loop control setpoints, taking into account the articular force vector and the articular force setpoint; and calculating, in the axis controller module, the control setpoints for the power units according to the control setpoints for the current loops.

Abstract: The present invention describes a process for the production of 1,3-butadiene from ethylene by dimerizing ethylene into butenes using homogeneous catalysis and dehydrogenating the butenes obtained.

Abstract: This invention describes a process for the production of 1,3-butadiene from ethylene implementing a stage for oligomerization of ethylene into n-butenes and into oligomers with 6 carbon atoms and more by homogeneous catalysis, a stage for separation in such a way as to obtain an n-butene-enriched fraction, and then a stage for dehydrogenation of said n-butene-enriched fraction.