FR3011098B1 - Procede et dispositif de reglage d'un systeme mecanique actionne - Google Patents

Procede et dispositif de reglage d'un systeme mecanique actionne Download PDF

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Publication number
FR3011098B1
FR3011098B1 FR1359112A FR1359112A FR3011098B1 FR 3011098 B1 FR3011098 B1 FR 3011098B1 FR 1359112 A FR1359112 A FR 1359112A FR 1359112 A FR1359112 A FR 1359112A FR 3011098 B1 FR3011098 B1 FR 3011098B1
Authority
FR
France
Prior art keywords
adjusting
mechanical system
actuated mechanical
actuated
mechanical
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
FR1359112A
Other languages
English (en)
Other versions
FR3011098A1 (fr
Inventor
Mario Guillo
Laurent Dubourg
Eric Courteille
Patrick Maurine
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.)
Institut National des Sciences Appliquees INSA
Institut Maupertuis
Original Assignee
Institut National des Sciences Appliquees INSA
Institut Maupertuis
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 Institut National des Sciences Appliquees INSA, Institut Maupertuis filed Critical Institut National des Sciences Appliquees INSA
Priority to FR1359112A priority Critical patent/FR3011098B1/fr
Priority to PCT/EP2014/070222 priority patent/WO2015040238A1/fr
Publication of FR3011098A1 publication Critical patent/FR3011098A1/fr
Application granted granted Critical
Publication of FR3011098B1 publication Critical patent/FR3011098B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • 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
    • 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
    • G05B2219/39319—Force control, force as reference, active compliance
    • 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
    • G05B2219/39529—Force, torque sensor in wrist, end effector
    • 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42092—Position and force control loop together

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Feedback Control In General (AREA)
FR1359112A 2013-09-23 2013-09-23 Procede et dispositif de reglage d'un systeme mecanique actionne Active FR3011098B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR1359112A FR3011098B1 (fr) 2013-09-23 2013-09-23 Procede et dispositif de reglage d'un systeme mecanique actionne
PCT/EP2014/070222 WO2015040238A1 (fr) 2013-09-23 2014-09-23 Procédé et dispositif de réglage d'un système mécanique actionné

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1359112A FR3011098B1 (fr) 2013-09-23 2013-09-23 Procede et dispositif de reglage d'un systeme mecanique actionne
FR1359112 2013-09-23

Publications (2)

Publication Number Publication Date
FR3011098A1 FR3011098A1 (fr) 2015-03-27
FR3011098B1 true FR3011098B1 (fr) 2018-03-23

Family

ID=49911654

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1359112A Active FR3011098B1 (fr) 2013-09-23 2013-09-23 Procede et dispositif de reglage d'un systeme mecanique actionne

Country Status (2)

Country Link
FR (1) FR3011098B1 (fr)
WO (1) WO2015040238A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106393111B (zh) * 2016-11-04 2019-07-16 华南理工大学 针对机器人形变问题的机器人曲面切削力控制方法

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4202365B2 (ja) * 2006-03-07 2008-12-24 ファナック株式会社 力制御装置
US20080065257A1 (en) * 2006-09-13 2008-03-13 Jianmin He Controlled material removal rate (CMRR) and self-tuning force control in robotic machining process

Also Published As

Publication number Publication date
FR3011098A1 (fr) 2015-03-27
WO2015040238A1 (fr) 2015-03-26

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