FR2988320B1 - Dispositif d'assistance a commande manuelle pour robot - Google Patents

Dispositif d'assistance a commande manuelle pour robot

Info

Publication number
FR2988320B1
FR2988320B1 FR1252694A FR1252694A FR2988320B1 FR 2988320 B1 FR2988320 B1 FR 2988320B1 FR 1252694 A FR1252694 A FR 1252694A FR 1252694 A FR1252694 A FR 1252694A FR 2988320 B1 FR2988320 B1 FR 2988320B1
Authority
FR
France
Prior art keywords
robot
tool
manual control
assist device
control assist
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.)
Expired - Fee Related
Application number
FR1252694A
Other languages
English (en)
French (fr)
Other versions
FR2988320A1 (fr
Inventor
Serge Grygorowicz
Ludovic Surgot
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.)
ROBOTIQUES 3 DIMENSIONS RB3D
Original Assignee
ROBOTIQUES 3 DIMENSIONS RB3D
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 ROBOTIQUES 3 DIMENSIONS RB3D filed Critical ROBOTIQUES 3 DIMENSIONS RB3D
Priority to FR1252694A priority Critical patent/FR2988320B1/fr
Priority to PCT/EP2013/056321 priority patent/WO2013144103A1/fr
Priority to US14/388,348 priority patent/US20150051732A1/en
Priority to JP2015502288A priority patent/JP2015511544A/ja
Priority to BR112014023839A priority patent/BR112014023839A8/pt
Priority to EP13711907.9A priority patent/EP2830834A1/fr
Publication of FR2988320A1 publication Critical patent/FR2988320A1/fr
Application granted granted Critical
Publication of FR2988320B1 publication Critical patent/FR2988320B1/fr
Expired - Fee Related 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J1/00—Manipulators positioned in space by hand
    • B25J1/02—Manipulators positioned in space by hand articulated or flexible
    • 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
    • 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
    • B25J13/085—Force or torque sensors
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Manipulator (AREA)
FR1252694A 2012-03-26 2012-03-26 Dispositif d'assistance a commande manuelle pour robot Expired - Fee Related FR2988320B1 (fr)

Priority Applications (6)

Application Number Priority Date Filing Date Title
FR1252694A FR2988320B1 (fr) 2012-03-26 2012-03-26 Dispositif d'assistance a commande manuelle pour robot
PCT/EP2013/056321 WO2013144103A1 (fr) 2012-03-26 2013-03-25 Dispositif d'assistance à commande manuelle pour robot
US14/388,348 US20150051732A1 (en) 2012-03-26 2013-03-25 Manually Controlled Assistance Device for a Robot
JP2015502288A JP2015511544A (ja) 2012-03-26 2013-03-25 ロボットに用いる手動制御補助装置
BR112014023839A BR112014023839A8 (pt) 2012-03-26 2013-03-25 Dispositivo de assistência, robô colaborativo e uso de um robô
EP13711907.9A EP2830834A1 (fr) 2012-03-26 2013-03-25 Dispositif d'assistance à commande manuelle pour robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1252694A FR2988320B1 (fr) 2012-03-26 2012-03-26 Dispositif d'assistance a commande manuelle pour robot

Publications (2)

Publication Number Publication Date
FR2988320A1 FR2988320A1 (fr) 2013-09-27
FR2988320B1 true FR2988320B1 (fr) 2015-01-16

Family

ID=47997507

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1252694A Expired - Fee Related FR2988320B1 (fr) 2012-03-26 2012-03-26 Dispositif d'assistance a commande manuelle pour robot

Country Status (6)

Country Link
US (1) US20150051732A1 (enExample)
EP (1) EP2830834A1 (enExample)
JP (1) JP2015511544A (enExample)
BR (1) BR112014023839A8 (enExample)
FR (1) FR2988320B1 (enExample)
WO (1) WO2013144103A1 (enExample)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2983762B1 (fr) * 2011-12-09 2014-01-10 Commissariat Energie Atomique Procede de pilotage d'un robot et systeme de pilotage mettant en oeuvre un tel procede
US10383765B2 (en) 2012-04-24 2019-08-20 Auris Health, Inc. Apparatus and method for a global coordinate system for use in robotic surgery
JP6527654B2 (ja) * 2013-03-25 2019-06-05 株式会社デンソーウェーブ アームの操作方法及び操作装置
JP6527655B2 (ja) * 2013-03-25 2019-06-05 株式会社デンソーウェーブ アームの操作方法及び操作装置
CN103640022A (zh) * 2013-11-13 2014-03-19 北京卫星环境工程研究所 航天器机械臂柔性随动控制方法
FR3026335A1 (fr) * 2014-09-29 2016-04-01 Robotiques 3 Dimensions Exosquelette avec porte outil et procede d'utilisation d'un tel exosquelette.
US10499999B2 (en) 2014-10-09 2019-12-10 Auris Health, Inc. Systems and methods for aligning an elongate member with an access site
US9739674B2 (en) 2015-01-09 2017-08-22 Stryker Corporation Isolated force/torque sensor assembly for force controlled robot
CN106737630A (zh) * 2015-11-11 2017-05-31 福州严创环境科技有限公司 一种轻便式炉前机械手
WO2017104015A1 (ja) * 2015-12-16 2017-06-22 オリンパス株式会社 医療用マニピュレータシステム及び医療用マニピュレータの制御方法
JP6565752B2 (ja) 2016-03-17 2019-08-28 株式会社安川電機 ロボット制御装置及びロボット制御方法
KR101799057B1 (ko) * 2016-05-27 2017-11-17 재단법인대구경북과학기술원 능동형 상지 운동 보조장치
JP2020512206A (ja) * 2017-03-26 2020-04-23 ジェネシス ロボティクス アンド モーション テクノロジーズ カナダ アンリミテッド ライアビリティ カンパニー ロボットアーム
AU2018292284B2 (en) 2017-06-28 2023-03-23 Auris Health, Inc. Electromagnetic field generator alignment
US11395703B2 (en) 2017-06-28 2022-07-26 Auris Health, Inc. Electromagnetic distortion detection
US10464209B2 (en) 2017-10-05 2019-11-05 Auris Health, Inc. Robotic system with indication of boundary for robotic arm
US10016900B1 (en) 2017-10-10 2018-07-10 Auris Health, Inc. Surgical robotic arm admittance control
DE102018206947A1 (de) * 2018-05-04 2019-11-07 Kuka Deutschland Gmbh Verfahren und system zum programmieren eines roboterprozesses
CN114641252B (zh) 2019-09-03 2023-09-01 奥瑞斯健康公司 电磁畸变检测和补偿
AU2022218950A1 (en) 2021-02-11 2023-08-31 Mako Surgical Corp. Robotic manipulator comprising isolation mechanism for force/torque sensor
CN114670223A (zh) * 2022-03-04 2022-06-28 天津新松机器人自动化有限公司 含有安全开关的机器人控制手柄及方法

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6204619B1 (en) * 1999-10-04 2001-03-20 Daimlerchrysler Corporation Dynamic control algorithm and program for power-assisted lift device
US6204620B1 (en) * 1999-12-10 2001-03-20 Fanuc Robotics North America Method of controlling an intelligent assist device
US6385508B1 (en) * 2000-10-31 2002-05-07 Fanuc Robotics North America, Inc. Lead-through teach handle assembly and method of teaching a robot assembly
JP4792901B2 (ja) * 2005-09-30 2011-10-12 日産自動車株式会社 レーザ溶接装置およびその方法、ならびに照射装置
FR2960467B1 (fr) * 2010-06-01 2012-07-27 Robotiques 3 Dimensions Equipement de robotique collaborative
FR2962063B1 (fr) * 2010-07-02 2012-07-20 Commissariat Energie Atomique Dispositif robotise d'assistance a la manipulation a rapport d'augmentation d'effort variable

Also Published As

Publication number Publication date
BR112014023839A8 (pt) 2017-07-25
WO2013144103A1 (fr) 2013-10-03
JP2015511544A (ja) 2015-04-20
BR112014023839A2 (enExample) 2017-06-20
FR2988320A1 (fr) 2013-09-27
US20150051732A1 (en) 2015-02-19
EP2830834A1 (fr) 2015-02-04

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