FR3117912B1 - Robot de co-manipulation à loi de commande en effort mixte offrant une forte sensibilité de l’effecteur et permettant l’interaction avec le corps du robot. - Google Patents

Robot de co-manipulation à loi de commande en effort mixte offrant une forte sensibilité de l’effecteur et permettant l’interaction avec le corps du robot. Download PDF

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Publication number
FR3117912B1
FR3117912B1 FR2013615A FR2013615A FR3117912B1 FR 3117912 B1 FR3117912 B1 FR 3117912B1 FR 2013615 A FR2013615 A FR 2013615A FR 2013615 A FR2013615 A FR 2013615A FR 3117912 B1 FR3117912 B1 FR 3117912B1
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FR
France
Prior art keywords
robot
control law
effector
mixed
high sensitivity
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
FR2013615A
Other languages
English (en)
Other versions
FR3117912A1 (fr
Inventor
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
Priority to FR2013615A priority Critical patent/FR3117912B1/fr
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 US18/257,806 priority patent/US20240033929A1/en
Priority to PCT/EP2021/086585 priority patent/WO2022129566A1/fr
Priority to JP2023537178A priority patent/JP2023553745A/ja
Priority to EP21840884.7A priority patent/EP4263150A1/fr
Priority to KR1020237024446A priority patent/KR20230119229A/ko
Priority to CN202180091025.5A priority patent/CN116710238A/zh
Publication of FR3117912A1 publication Critical patent/FR3117912A1/fr
Application granted granted Critical
Publication of FR3117912B1 publication Critical patent/FR3117912B1/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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • 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
    • 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
    • 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
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with master teach-in means
    • 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
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • 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
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41411—Avoid integrator wind-up, saturation actuator by dead zone feedback for integral

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

Robot de co-manipulation à loi de commande en effort mixte offrant une forte sensibilité de l’effecteur et permettant l’interaction avec le corps du robot. L’invention consiste essentiellement à positionner judicieusement un capteur d’efforts multiaxes entre l’organe terminal (bride) d’un robot industriel de co-manipulation et l’outil qu’il porte et à modifier une loi de commande en augmentation d’efforts implémentée dans le contrôleur du robot par l’ajout d’une fonction de saturation. Figure pour l’abrégé : Fig. 1
FR2013615A 2020-12-18 2020-12-18 Robot de co-manipulation à loi de commande en effort mixte offrant une forte sensibilité de l’effecteur et permettant l’interaction avec le corps du robot. Active FR3117912B1 (fr)

Priority Applications (7)

Application Number Priority Date Filing Date Title
FR2013615A FR3117912B1 (fr) 2020-12-18 2020-12-18 Robot de co-manipulation à loi de commande en effort mixte offrant une forte sensibilité de l’effecteur et permettant l’interaction avec le corps du robot.
PCT/EP2021/086585 WO2022129566A1 (fr) 2020-12-18 2021-12-17 Robot de co-manipulation à loi de commande en effort mixte offrant une forte sensibilité de l'effecteur et permettant l'interaction avec le corps du robot
JP2023537178A JP2023553745A (ja) 2020-12-18 2021-12-17 高エフェクタ感度を提供し、ロボットの本体との相互作用を可能にする混合力制御法則を有する協働処理ロボット
EP21840884.7A EP4263150A1 (fr) 2020-12-18 2021-12-17 Robot de co-manipulation à loi de commande en effort mixte offrant une forte sensibilité de l'effecteur et permettant l'interaction avec le corps du robot
US18/257,806 US20240033929A1 (en) 2020-12-18 2021-12-17 Co-handling robot having a mixed-force control law providing high effector sensitivity and enabling interaction with the body of the robot
KR1020237024446A KR20230119229A (ko) 2020-12-18 2021-12-17 높은 이펙터 감도를 제공하고 로봇 바디부와 상호작용이가능한 혼합력 제어법을 갖는 공동-핸들링 로봇
CN202180091025.5A CN116710238A (zh) 2020-12-18 2021-12-17 具有提供高的效应器灵敏度并且使得能够与机器人的本体进行交互的混合力控制定律的协同操纵机器人

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2013615A FR3117912B1 (fr) 2020-12-18 2020-12-18 Robot de co-manipulation à loi de commande en effort mixte offrant une forte sensibilité de l’effecteur et permettant l’interaction avec le corps du robot.
FR2013615 2020-12-18

Publications (2)

Publication Number Publication Date
FR3117912A1 FR3117912A1 (fr) 2022-06-24
FR3117912B1 true FR3117912B1 (fr) 2023-05-19

Family

ID=74592245

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2013615A Active FR3117912B1 (fr) 2020-12-18 2020-12-18 Robot de co-manipulation à loi de commande en effort mixte offrant une forte sensibilité de l’effecteur et permettant l’interaction avec le corps du robot.

Country Status (7)

Country Link
US (1) US20240033929A1 (fr)
EP (1) EP4263150A1 (fr)
JP (1) JP2023553745A (fr)
KR (1) KR20230119229A (fr)
CN (1) CN116710238A (fr)
FR (1) FR3117912B1 (fr)
WO (1) WO2022129566A1 (fr)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2942658B1 (fr) 2009-02-27 2011-12-09 Commissariat Energie Atomique Peau protectrice pour robots
FR3004230B1 (fr) 2013-04-05 2015-05-15 Commissariat Energie Atomique Verin a cable permettant un debattement articulaire augmente
JP6100727B2 (ja) 2014-04-09 2017-03-22 ファナック株式会社 リードスルー機能を有する人協調型産業用ロボット
FR3022482B1 (fr) 2014-06-23 2016-06-24 Commissariat A L`Energie Atomique Et Aux Energies Alternatives Robot de co-manipulation comportant des moyens de commande du robot
AT516097B1 (de) 2014-07-03 2016-09-15 Blue Danube Robotics Gmbh Schutzverfahren und Schutzvorrichtung für Handhabungsgerät

Also Published As

Publication number Publication date
FR3117912A1 (fr) 2022-06-24
CN116710238A (zh) 2023-09-05
EP4263150A1 (fr) 2023-10-25
US20240033929A1 (en) 2024-02-01
KR20230119229A (ko) 2023-08-16
JP2023553745A (ja) 2023-12-25
WO2022129566A1 (fr) 2022-06-23

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