FR2434426A1 - Dispositif manuel de commande de robot - Google Patents

Dispositif manuel de commande de robot

Info

Publication number
FR2434426A1
FR2434426A1 FR7820150A FR7820150A FR2434426A1 FR 2434426 A1 FR2434426 A1 FR 2434426A1 FR 7820150 A FR7820150 A FR 7820150A FR 7820150 A FR7820150 A FR 7820150A FR 2434426 A1 FR2434426 A1 FR 2434426A1
Authority
FR
France
Prior art keywords
motor
microswitches
tracking
robot arm
potentiometers
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
FR7820150A
Other languages
English (en)
Other versions
FR2434426B1 (fr
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.)
Renault SAS
Original Assignee
Renault SAS
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 Renault SAS filed Critical Renault SAS
Priority to FR7820150A priority Critical patent/FR2434426A1/fr
Publication of FR2434426A1 publication Critical patent/FR2434426A1/fr
Application granted granted Critical
Publication of FR2434426B1 publication Critical patent/FR2434426B1/fr
Granted legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G9/04737—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with six degrees of freedom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04703—Mounting of controlling member
    • G05G2009/04707—Mounting of controlling member with ball joint

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Toys (AREA)
  • Manipulator (AREA)

Abstract

Robot. Il comporte une tige 24 manipulée par un opérateur manuel à l'aide d'une poignée 25. La tige 24 peut recevoir à la fois des translations, pivoter grâce à une rotule de guidage 28 et coulisser dans cette dernière. Les déplacements de la tige 24 sont analysés grâce à trois capteurs de déplacements rectilignes 30, 32, 34 et à trois capteurs de déplacements angulaires 51, 61, 71. Il permet la programmation rapide et intuitive de toute trajectoire de terminal de robot à au moins six degrés de liberté.
FR7820150A 1978-07-06 1978-07-06 Dispositif manuel de commande de robot Granted FR2434426A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR7820150A FR2434426A1 (fr) 1978-07-06 1978-07-06 Dispositif manuel de commande de robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR7820150A FR2434426A1 (fr) 1978-07-06 1978-07-06 Dispositif manuel de commande de robot

Publications (2)

Publication Number Publication Date
FR2434426A1 true FR2434426A1 (fr) 1980-03-21
FR2434426B1 FR2434426B1 (fr) 1981-02-13

Family

ID=9210401

Family Applications (1)

Application Number Title Priority Date Filing Date
FR7820150A Granted FR2434426A1 (fr) 1978-07-06 1978-07-06 Dispositif manuel de commande de robot

Country Status (1)

Country Link
FR (1) FR2434426A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2545954A1 (fr) * 1983-05-11 1984-11-16 Thomson Csf Manche a balai pour pupitre de telecommande
EP0140036A2 (fr) * 1983-09-20 1985-05-08 Siemens Aktiengesellschaft Dispositif de sécurité pour robots industriels
EP0177922A1 (fr) * 1984-10-09 1986-04-16 Siemens Aktiengesellschaft Dispositif de sécurité pour robot industriel
EP0235779A1 (fr) * 1986-02-28 1987-09-09 Forschungsinstitut für Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen in der Poignée de commande manuelle pour robot industriel
EP0346503A1 (fr) * 1988-06-11 1989-12-20 Blomberg Robotertechnik GmbH Manche à balai de programmation
FR2671507A1 (fr) * 1991-01-16 1992-07-17 Edap Int Dispositif de telemanipulation d'appareils medicaux.
EP1020786A3 (fr) * 1999-01-15 2002-12-18 W. Gessmann GmbH Dispositif pour le contrôle des ensembles de grue, de levage ou similaire

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1221344A (fr) * 1958-03-13 1960-06-01 Gen Electric Co Ltd Perfectionnements à des unités de commande actionnées manuellement
FR1336799A (fr) * 1962-07-24 1963-09-06 Commissariat Energie Atomique Perfectionnements apportés aux installations du genre de celles comprenant des poignées de commande pour manipulations à distance
FR2369055A1 (fr) * 1976-10-29 1978-05-26 Creusot Loire Dis

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1221344A (fr) * 1958-03-13 1960-06-01 Gen Electric Co Ltd Perfectionnements à des unités de commande actionnées manuellement
FR1336799A (fr) * 1962-07-24 1963-09-06 Commissariat Energie Atomique Perfectionnements apportés aux installations du genre de celles comprenant des poignées de commande pour manipulations à distance
FR2369055A1 (fr) * 1976-10-29 1978-05-26 Creusot Loire Dis

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2545954A1 (fr) * 1983-05-11 1984-11-16 Thomson Csf Manche a balai pour pupitre de telecommande
EP0125991A1 (fr) * 1983-05-11 1984-11-21 Thomson-Csf Manche à balai pour pupitre de télécommande
EP0140036A2 (fr) * 1983-09-20 1985-05-08 Siemens Aktiengesellschaft Dispositif de sécurité pour robots industriels
EP0140036A3 (en) * 1983-09-20 1985-06-19 Siemens Aktiengesellschaft Safety device for industrial robots
EP0177922A1 (fr) * 1984-10-09 1986-04-16 Siemens Aktiengesellschaft Dispositif de sécurité pour robot industriel
EP0235779A1 (fr) * 1986-02-28 1987-09-09 Forschungsinstitut für Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen in der Poignée de commande manuelle pour robot industriel
EP0346503A1 (fr) * 1988-06-11 1989-12-20 Blomberg Robotertechnik GmbH Manche à balai de programmation
FR2671507A1 (fr) * 1991-01-16 1992-07-17 Edap Int Dispositif de telemanipulation d'appareils medicaux.
EP1020786A3 (fr) * 1999-01-15 2002-12-18 W. Gessmann GmbH Dispositif pour le contrôle des ensembles de grue, de levage ou similaire

Also Published As

Publication number Publication date
FR2434426B1 (fr) 1981-02-13

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Legal Events

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CL Concession to grant licences
ST Notification of lapse