FR2630957A1 - Dispositif d'asservissement pour robot manipulateur - Google Patents

Dispositif d'asservissement pour robot manipulateur Download PDF

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Publication number
FR2630957A1
FR2630957A1 FR8806438A FR8806438A FR2630957A1 FR 2630957 A1 FR2630957 A1 FR 2630957A1 FR 8806438 A FR8806438 A FR 8806438A FR 8806438 A FR8806438 A FR 8806438A FR 2630957 A1 FR2630957 A1 FR 2630957A1
Authority
FR
France
Prior art keywords
reference plane
arm
servo
sensor
optical
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
FR8806438A
Other languages
English (en)
French (fr)
Other versions
FR2630957B1 (enExample
Inventor
Didier Delebarre
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.)
Automobiles Peugeot SA
Automobiles Citroen SA
Original Assignee
Automobiles Peugeot SA
Automobiles Citroen SA
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 Automobiles Peugeot SA, Automobiles Citroen SA filed Critical Automobiles Peugeot SA
Priority to FR8806438A priority Critical patent/FR2630957A1/fr
Publication of FR2630957A1 publication Critical patent/FR2630957A1/fr
Application granted granted Critical
Publication of FR2630957B1 publication Critical patent/FR2630957B1/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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
FR8806438A 1988-05-05 1988-05-05 Dispositif d'asservissement pour robot manipulateur Granted FR2630957A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR8806438A FR2630957A1 (fr) 1988-05-05 1988-05-05 Dispositif d'asservissement pour robot manipulateur

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR8806438A FR2630957A1 (fr) 1988-05-05 1988-05-05 Dispositif d'asservissement pour robot manipulateur

Publications (2)

Publication Number Publication Date
FR2630957A1 true FR2630957A1 (fr) 1989-11-10
FR2630957B1 FR2630957B1 (enExample) 1994-08-19

Family

ID=9366268

Family Applications (1)

Application Number Title Priority Date Filing Date
FR8806438A Granted FR2630957A1 (fr) 1988-05-05 1988-05-05 Dispositif d'asservissement pour robot manipulateur

Country Status (1)

Country Link
FR (1) FR2630957A1 (enExample)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0581188A1 (en) * 1992-07-28 1994-02-02 G.D Societa' Per Azioni Method of picking up stacked blanks
WO1998030121A1 (en) * 1997-01-08 1998-07-16 Intelligent Machines Corporation Workpiece treating apparatus and method of treating same
EP0812662A4 (en) * 1995-12-27 2000-11-15 Fanuc Ltd COMPOSITE ROBOTIC DETECTION SYSTEM
US6259519B1 (en) 1999-08-31 2001-07-10 Intelligent Machine Concepts, L.L.C. Method of determining the planar inclination of a surface
US6327520B1 (en) 1999-08-31 2001-12-04 Intelligent Machine Concepts, L.L.C. Planar normality sensor
WO2009128104A1 (en) * 2008-04-18 2009-10-22 Sea Vision S.R.L. Manipulator and related operation
CN114654482A (zh) * 2022-04-26 2022-06-24 北京市商汤科技开发有限公司 移动机器人的控制方法、机器人、装置、设备及存储介质

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0134045A1 (en) * 1981-09-30 1985-03-13 Unimation Inc. Improved sensing and welding arrangements for manipulator welding apparatus
US4673795A (en) * 1984-10-15 1987-06-16 General Electric Company Integrated robotic laser material processing and imaging system

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0134045A1 (en) * 1981-09-30 1985-03-13 Unimation Inc. Improved sensing and welding arrangements for manipulator welding apparatus
US4673795A (en) * 1984-10-15 1987-06-16 General Electric Company Integrated robotic laser material processing and imaging system

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
COMPUTER vol. 15, no. 6, juin 1982, page 8 - 22; JARVIS R.A.: "A COMPUTER VISION AND ROBOTICS LABORATORY" *
IEEE INT. CONF. ON ROBOTICS & AUTOMATION vol. 3, avril 1986, USA & DIETRICH: "MULTISENSORY ROBOTS AND SEMSORBASED PATH GENERATION" *

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0581188A1 (en) * 1992-07-28 1994-02-02 G.D Societa' Per Azioni Method of picking up stacked blanks
US5411362A (en) * 1992-07-28 1995-05-02 G. D. Societa' Per Azioni Method of picking up stacked blanks
EP0812662A4 (en) * 1995-12-27 2000-11-15 Fanuc Ltd COMPOSITE ROBOTIC DETECTION SYSTEM
WO1998030121A1 (en) * 1997-01-08 1998-07-16 Intelligent Machines Corporation Workpiece treating apparatus and method of treating same
US5968297A (en) * 1997-01-08 1999-10-19 Intelligent Machine Concepts, Llc Workpiece treating apparatus and method of treating same
US6259519B1 (en) 1999-08-31 2001-07-10 Intelligent Machine Concepts, L.L.C. Method of determining the planar inclination of a surface
US6327520B1 (en) 1999-08-31 2001-12-04 Intelligent Machine Concepts, L.L.C. Planar normality sensor
WO2009128104A1 (en) * 2008-04-18 2009-10-22 Sea Vision S.R.L. Manipulator and related operation
CN114654482A (zh) * 2022-04-26 2022-06-24 北京市商汤科技开发有限公司 移动机器人的控制方法、机器人、装置、设备及存储介质

Also Published As

Publication number Publication date
FR2630957B1 (enExample) 1994-08-19

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