FR2275816A1 - Dispositif de commande d'un organe mecanique avec retour d'effort - Google Patents

Dispositif de commande d'un organe mecanique avec retour d'effort

Info

Publication number
FR2275816A1
FR2275816A1 FR7421355A FR7421355A FR2275816A1 FR 2275816 A1 FR2275816 A1 FR 2275816A1 FR 7421355 A FR7421355 A FR 7421355A FR 7421355 A FR7421355 A FR 7421355A FR 2275816 A1 FR2275816 A1 FR 2275816A1
Authority
FR
France
Prior art keywords
control device
body control
mechanical body
effort feedback
effort
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
FR7421355A
Other languages
English (en)
Other versions
FR2275816B1 (fr
Inventor
Guy Debrie
Claude Grenier
Michel Petit
Henri Rigaut
Jean Vertut
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Commissariat a lEnergie Atomique CEA filed Critical Commissariat a lEnergie Atomique CEA
Priority to FR7421355A priority Critical patent/FR2275816A1/fr
Priority to GB25101/75A priority patent/GB1515337A/en
Priority to BE157240A priority patent/BE830125A/fr
Priority to US05/586,229 priority patent/US4056763A/en
Priority to IT68531/75A priority patent/IT1036295B/it
Priority to CH777175A priority patent/CH607125A5/xx
Priority to DE19752527055 priority patent/DE2527055A1/de
Priority to JP50074971A priority patent/JPS6160453B2/ja
Publication of FR2275816A1 publication Critical patent/FR2275816A1/fr
Application granted granted Critical
Publication of FR2275816B1 publication Critical patent/FR2275816B1/fr
Granted legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
FR7421355A 1974-06-19 1974-06-19 Dispositif de commande d'un organe mecanique avec retour d'effort Granted FR2275816A1 (fr)

Priority Applications (8)

Application Number Priority Date Filing Date Title
FR7421355A FR2275816A1 (fr) 1974-06-19 1974-06-19 Dispositif de commande d'un organe mecanique avec retour d'effort
GB25101/75A GB1515337A (en) 1974-06-19 1975-06-11 Remote-control manipulator
BE157240A BE830125A (fr) 1974-06-19 1975-06-11 Dispositif de commande d'un organe mecanique avec retour d'effort
US05/586,229 US4056763A (en) 1974-06-19 1975-06-12 Device for controlling a mechanical element with effort return
IT68531/75A IT1036295B (it) 1974-06-19 1975-06-13 Dispositivo per il comando di un organo meccanico con ritorno di sforzo..particolarmente per telemanipolatori
CH777175A CH607125A5 (fr) 1974-06-19 1975-06-16
DE19752527055 DE2527055A1 (de) 1974-06-19 1975-06-18 Steuervorrichtung fuer mechanische einheit
JP50074971A JPS6160453B2 (fr) 1974-06-19 1975-06-19

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR7421355A FR2275816A1 (fr) 1974-06-19 1974-06-19 Dispositif de commande d'un organe mecanique avec retour d'effort

Publications (2)

Publication Number Publication Date
FR2275816A1 true FR2275816A1 (fr) 1976-01-16
FR2275816B1 FR2275816B1 (fr) 1976-10-15

Family

ID=9140265

Family Applications (1)

Application Number Title Priority Date Filing Date
FR7421355A Granted FR2275816A1 (fr) 1974-06-19 1974-06-19 Dispositif de commande d'un organe mecanique avec retour d'effort

Country Status (8)

Country Link
US (1) US4056763A (fr)
JP (1) JPS6160453B2 (fr)
BE (1) BE830125A (fr)
CH (1) CH607125A5 (fr)
DE (1) DE2527055A1 (fr)
FR (1) FR2275816A1 (fr)
GB (1) GB1515337A (fr)
IT (1) IT1036295B (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2512570A1 (fr) * 1981-09-09 1983-03-11 Commissariat Energie Atomique Systeme d'asservissement de position a retour d'effort avec retard de transmission et son application a un telemanipulateur

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4301397A (en) * 1980-04-24 1981-11-17 Cornell-Dubilier Electric Corporation DC Antenna rotator system
DE3045094A1 (de) * 1980-11-29 1982-07-01 Kernforschungszentrum Karlsruhe Gmbh, 7500 Karlsruhe Programmierbarer manipulator
FR2516843B1 (fr) * 1981-11-24 1985-10-25 Calhene Dispositif d'actionnement et son application a un asservissement de position pour un telemanipulateur maitre-esclave
US4481453A (en) * 1982-07-23 1984-11-06 Motornetics Corporation Torque loop control system and method
FR2590044B1 (fr) * 1985-09-27 1988-01-29 Applic Mach Motrices Dispositif de commande electrique motorise
GB8606070D0 (en) * 1986-03-12 1986-04-16 Stewart A S Force feedback control system
JPH0649260B2 (ja) * 1989-02-28 1994-06-29 豊田工機株式会社 同期制御装置
DE4435289C1 (de) * 1994-10-01 1996-03-21 Karlsruhe Forschzent Anordnung zur Reibungskompensation eines Steuerarms
FR2756392B1 (fr) * 1996-11-22 1999-01-22 Aerospatiale Systeme de couplage de manches de commande
TW200950306A (en) * 2008-06-10 2009-12-01 Mobiletron Electronics Co Ltd Electric motor resistance torque control and battery discharging protection circuit
DE102012103911A1 (de) * 2012-05-04 2013-11-07 Carl Mahr Holding Gmbh Messvorrichtung für dimensionelle Mess- und Kenngrößen mit separater Steuereinrichtung
CN107921634B (zh) * 2015-08-25 2021-04-02 川崎重工业株式会社 机器人系统

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2689318A (en) * 1951-07-18 1954-09-14 Atomic Energy Commission Load torque responsive follow-up system
AU408797B2 (en) * 1965-06-21 1970-12-16 Northrop Corporation Servo controlled manipulator device
US3549948A (en) * 1968-01-02 1970-12-22 Eaton Yale & Towne Press synchronizing apparatus
US3618786A (en) * 1969-01-02 1971-11-09 Gen Electric Material-handling apparatus with end effector force resolver and feedback
BE757978A (fr) * 1969-10-24 1971-04-01 Fujitsu Ltd Procede et appareil de compensation d'une erreur dans un systeme de commande numerique
US3906313A (en) * 1973-12-03 1975-09-16 Roger P Danis Plural motor synchronizing apparatus

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2512570A1 (fr) * 1981-09-09 1983-03-11 Commissariat Energie Atomique Systeme d'asservissement de position a retour d'effort avec retard de transmission et son application a un telemanipulateur
EP0077224A1 (fr) * 1981-09-09 1983-04-20 Commissariat à l'Energie Atomique Système d'asservissement de position à retour d'effort avec retard de transmission et son application à un télémanipulateur

Also Published As

Publication number Publication date
JPS5113085A (fr) 1976-02-02
JPS6160453B2 (fr) 1986-12-20
BE830125A (fr) 1975-10-01
DE2527055A1 (de) 1976-02-05
GB1515337A (en) 1978-06-21
IT1036295B (it) 1979-10-30
CH607125A5 (fr) 1978-11-30
DE2527055C2 (fr) 1987-01-29
US4056763A (en) 1977-11-01
FR2275816B1 (fr) 1976-10-15

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