FR3045848B1 - Procede de commande d'un actionneur d'un segment articule d'un robot collaboratif a amplification d'effort - Google Patents

Procede de commande d'un actionneur d'un segment articule d'un robot collaboratif a amplification d'effort

Info

Publication number
FR3045848B1
FR3045848B1 FR1563069A FR1563069A FR3045848B1 FR 3045848 B1 FR3045848 B1 FR 3045848B1 FR 1563069 A FR1563069 A FR 1563069A FR 1563069 A FR1563069 A FR 1563069A FR 3045848 B1 FR3045848 B1 FR 3045848B1
Authority
FR
France
Prior art keywords
actuator
controlling
collaborative robot
articulated segment
amplification
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
FR1563069A
Other languages
English (en)
Other versions
FR3045848A1 (fr
Inventor
Neil Abroug
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 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 et aux Energies Alternatives CEA filed Critical Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Priority to FR1563069A priority Critical patent/FR3045848B1/fr
Priority to PCT/EP2016/080435 priority patent/WO2017108449A1/fr
Publication of FR3045848A1 publication Critical patent/FR3045848A1/fr
Application granted granted Critical
Publication of FR3045848B1 publication Critical patent/FR3045848B1/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
    • 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
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40194—Force reflective, impedance shaping tele operation
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40195—Tele-operation, computer assisted manual operation

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)
  • Manipulator (AREA)
FR1563069A 2015-12-22 2015-12-22 Procede de commande d'un actionneur d'un segment articule d'un robot collaboratif a amplification d'effort Active FR3045848B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR1563069A FR3045848B1 (fr) 2015-12-22 2015-12-22 Procede de commande d'un actionneur d'un segment articule d'un robot collaboratif a amplification d'effort
PCT/EP2016/080435 WO2017108449A1 (fr) 2015-12-22 2016-12-09 Procede de commande d'un actionneur d'un segment articule d'un robot collaboratif a amplification d'effort

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1563069A FR3045848B1 (fr) 2015-12-22 2015-12-22 Procede de commande d'un actionneur d'un segment articule d'un robot collaboratif a amplification d'effort

Publications (2)

Publication Number Publication Date
FR3045848A1 FR3045848A1 (fr) 2017-06-23
FR3045848B1 true FR3045848B1 (fr) 2017-12-29

Family

ID=56321989

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1563069A Active FR3045848B1 (fr) 2015-12-22 2015-12-22 Procede de commande d'un actionneur d'un segment articule d'un robot collaboratif a amplification d'effort

Country Status (2)

Country Link
FR (1) FR3045848B1 (fr)
WO (1) WO2017108449A1 (fr)

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3008916B1 (fr) * 2013-07-26 2015-08-07 Commissariat Energie Atomique Procede de commande d'un segment de bras de comanipulateur

Also Published As

Publication number Publication date
FR3045848A1 (fr) 2017-06-23
WO2017108449A1 (fr) 2017-06-29

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