FR2962063B1 - Dispositif robotise d'assistance a la manipulation a rapport d'augmentation d'effort variable - Google Patents

Dispositif robotise d'assistance a la manipulation a rapport d'augmentation d'effort variable

Info

Publication number
FR2962063B1
FR2962063B1 FR1055379A FR1055379A FR2962063B1 FR 2962063 B1 FR2962063 B1 FR 2962063B1 FR 1055379 A FR1055379 A FR 1055379A FR 1055379 A FR1055379 A FR 1055379A FR 2962063 B1 FR2962063 B1 FR 2962063B1
Authority
FR
France
Prior art keywords
assistance device
increase ratio
robotic handling
handling assistance
effort increase
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.)
Active
Application number
FR1055379A
Other languages
English (en)
Other versions
FR2962063A1 (fr
Inventor
Franck Geffard
Xavier Lamy
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
Commissariat a lEnergie Atomique et aux Energies Alternatives 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, Commissariat a lEnergie Atomique et aux Energies Alternatives CEA filed Critical Commissariat a lEnergie Atomique CEA
Priority to FR1055379A priority Critical patent/FR2962063B1/fr
Priority to EP11728630.2A priority patent/EP2588279A1/fr
Priority to US13/807,871 priority patent/US9162358B2/en
Priority to JP2013517274A priority patent/JP5806303B2/ja
Priority to PCT/EP2011/060928 priority patent/WO2012001057A1/fr
Publication of FR2962063A1 publication Critical patent/FR2962063A1/fr
Application granted granted Critical
Publication of FR2962063B1 publication Critical patent/FR2962063B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/005—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with balanced jib, e.g. pantograph arrangement, the jib being moved manually
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D3/00—Portable or mobile lifting or hauling appliances
    • B66D3/18—Power-operated hoists
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36429—Power assisted positioning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39439—Joystick, handle, lever controls manipulator directly, manually by operator
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y10S901/09—Closed loop, sensor feedback controls arm movement
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device
FR1055379A 2010-07-02 2010-07-02 Dispositif robotise d'assistance a la manipulation a rapport d'augmentation d'effort variable Active FR2962063B1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
FR1055379A FR2962063B1 (fr) 2010-07-02 2010-07-02 Dispositif robotise d'assistance a la manipulation a rapport d'augmentation d'effort variable
EP11728630.2A EP2588279A1 (fr) 2010-07-02 2011-06-29 Dispositif robotise d'assistance a la manipulation a rapport d'augmentation d' effort variable
US13/807,871 US9162358B2 (en) 2010-07-02 2011-06-29 Robotic device for assisting handling having a variable force increase ratio
JP2013517274A JP5806303B2 (ja) 2010-07-02 2011-06-29 様々な力増加率を有する操作を支援するためのロボット装置
PCT/EP2011/060928 WO2012001057A1 (fr) 2010-07-02 2011-06-29 Dispositif robotise d'assistance a la manipulation a rapport d'augmentation d' effort variable

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1055379A FR2962063B1 (fr) 2010-07-02 2010-07-02 Dispositif robotise d'assistance a la manipulation a rapport d'augmentation d'effort variable

Publications (2)

Publication Number Publication Date
FR2962063A1 FR2962063A1 (fr) 2012-01-06
FR2962063B1 true FR2962063B1 (fr) 2012-07-20

Family

ID=43447002

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1055379A Active FR2962063B1 (fr) 2010-07-02 2010-07-02 Dispositif robotise d'assistance a la manipulation a rapport d'augmentation d'effort variable

Country Status (5)

Country Link
US (1) US9162358B2 (fr)
EP (1) EP2588279A1 (fr)
JP (1) JP5806303B2 (fr)
FR (1) FR2962063B1 (fr)
WO (1) WO2012001057A1 (fr)

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CN106514715A (zh) * 2016-10-31 2017-03-22 苏州立源信智能科技有限公司 一种具有可靠性检测功能的桁架机器人

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DE102013220798A1 (de) * 2013-10-15 2015-04-16 Kuka Laboratories Gmbh Verfahren zum Handhaben von Objekten mittels wenigstens zweier Industrieroboter, und zugehöriger Industrieroboter
USD768295S1 (en) * 2014-03-17 2016-10-04 Intuitive Surgical Operations, Inc. Surgical instrument end portion
USD767130S1 (en) * 2014-03-17 2016-09-20 Intuitive Surgical Operations, Inc. Surgical instrument end portion
USD767129S1 (en) * 2014-03-17 2016-09-20 Intuitive Surgical Operations, Inc. Surgical instrument end portion
USD760387S1 (en) * 2014-03-17 2016-06-28 Intuitive Surgical Operations, Inc. Surgical instrument end portion
CN106132346B (zh) * 2014-03-28 2019-11-26 索尼公司 机器人手臂设备、机器人手臂设备的控制方法和程序
DE102014107642A1 (de) * 2014-05-30 2015-12-03 Deutsches Zentrum für Luft- und Raumfahrt e.V. Adaptereinrichtung
JP6522930B2 (ja) * 2014-11-28 2019-05-29 ファナック株式会社 可動部を直接手動で操作可能な数値制御工作機械
FR3031060B1 (fr) * 2014-12-31 2016-12-23 Commissariat A L`Energie Atomique Et Aux Energies Alternatives Dispositif portatif d'amplification d'un effort axial
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CA2997817C (fr) * 2015-09-11 2019-01-22 Synaptive Medical (Barbados) Inc. Manette de commande d'effecteur terminal pour un dispositif de positionnement
DE102015012962A1 (de) * 2015-10-08 2017-04-13 Sami Haddadin Robotersystem
DE112016004725B4 (de) * 2015-10-14 2021-09-16 Kawasaki Jukogyo Kabushiki Kaisha Verfahren zum Teach-ln eines Roboters und Roboterarmsteuervorrichtung
TWI622865B (zh) 2016-04-29 2018-05-01 財團法人工業技術研究院 用於機器人的直覺式力量導引方法及其裝置
USD864386S1 (en) 2016-07-14 2019-10-22 Intuitive Surgical Operations, Inc. Surgical instrument actuator end portion
USD865163S1 (en) 2016-07-14 2019-10-29 Intuitive Surgical Operations, Inc. Surgical instrument actuator end portion
USD865164S1 (en) 2016-07-14 2019-10-29 Intuitive Surgical Operations, Inc. Surgical instrument actuator end portion
DE102017124356B3 (de) * 2017-10-18 2018-12-27 Franka Emika Gmbh Robotersystem, Vorrichtung und Verfahren zur Applikation einer Prozesskraft auf ein Objekt
USD884892S1 (en) 2018-04-20 2020-05-19 Intuitive Surgical Operations, Inc. Surgical instrument backend housing
CN109625118B (zh) * 2018-12-29 2020-09-01 深圳市优必选科技有限公司 双足机器人阻抗控制方法及装置
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106514715A (zh) * 2016-10-31 2017-03-22 苏州立源信智能科技有限公司 一种具有可靠性检测功能的桁架机器人

Also Published As

Publication number Publication date
US9162358B2 (en) 2015-10-20
FR2962063A1 (fr) 2012-01-06
JP2013529559A (ja) 2013-07-22
JP5806303B2 (ja) 2015-11-10
WO2012001057A1 (fr) 2012-01-05
US20130110290A1 (en) 2013-05-02
EP2588279A1 (fr) 2013-05-08

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