JP2015511544A - ロボットに用いる手動制御補助装置 - Google Patents

ロボットに用いる手動制御補助装置 Download PDF

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Publication number
JP2015511544A
JP2015511544A JP2015502288A JP2015502288A JP2015511544A JP 2015511544 A JP2015511544 A JP 2015511544A JP 2015502288 A JP2015502288 A JP 2015502288A JP 2015502288 A JP2015502288 A JP 2015502288A JP 2015511544 A JP2015511544 A JP 2015511544A
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JP
Japan
Prior art keywords
auxiliary device
arm
robot
operator
handle
Prior art date
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Pending
Application number
JP2015502288A
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English (en)
Japanese (ja)
Inventor
グリゴロウィック・セルジュ
スルゴー・ルドヴィッチ
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Robotiques 3 Dimensions Rb3d
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Robotiques 3 Dimensions Rb3d
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Publication date
Application filed by Robotiques 3 Dimensions Rb3d filed Critical Robotiques 3 Dimensions Rb3d
Publication of JP2015511544A publication Critical patent/JP2015511544A/ja
Pending legal-status Critical Current

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    • 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

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  • 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)
JP2015502288A 2012-03-26 2013-03-25 ロボットに用いる手動制御補助装置 Pending JP2015511544A (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR1252694A FR2988320B1 (fr) 2012-03-26 2012-03-26 Dispositif d'assistance a commande manuelle pour robot
FR1252694 2012-03-26
PCT/EP2013/056321 WO2013144103A1 (fr) 2012-03-26 2013-03-25 Dispositif d'assistance à commande manuelle pour robot

Publications (1)

Publication Number Publication Date
JP2015511544A true JP2015511544A (ja) 2015-04-20

Family

ID=47997507

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2015502288A Pending JP2015511544A (ja) 2012-03-26 2013-03-25 ロボットに用いる手動制御補助装置

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)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014184538A (ja) * 2013-03-25 2014-10-02 Denso Wave Inc アームの操作方法及び操作装置
JP2014184537A (ja) * 2013-03-25 2014-10-02 Denso Wave Inc アームの操作方法及び操作装置
DE102017204211A1 (de) 2016-03-17 2017-09-21 Kabushiki Kaisha Yaskawa Denki Robotersteuerung und robotersteuerungsverfahren
KR101799057B1 (ko) * 2016-05-27 2017-11-17 재단법인대구경북과학기술원 능동형 상지 운동 보조장치
JP2018506321A (ja) * 2015-01-09 2018-03-08 ストライカー・コーポレイション 力制御ロボットのための分離式力／トルクセンサアセンブリ
US10548677B2 (en) 2015-12-16 2020-02-04 Olympus Corporation Medical manipulator system, control device of medical manipulator system, and control method of medical manipulator system
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

Families Citing this family (14)

* 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
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
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
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

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

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014184538A (ja) * 2013-03-25 2014-10-02 Denso Wave Inc アームの操作方法及び操作装置
JP2014184537A (ja) * 2013-03-25 2014-10-02 Denso Wave Inc アームの操作方法及び操作装置
JP2018506321A (ja) * 2015-01-09 2018-03-08 ストライカー・コーポレイション 力制御ロボットのための分離式力／トルクセンサアセンブリ
US10548677B2 (en) 2015-12-16 2020-02-04 Olympus Corporation Medical manipulator system, control device of medical manipulator system, and control method of medical manipulator system
DE102017204211A1 (de) 2016-03-17 2017-09-21 Kabushiki Kaisha Yaskawa Denki Robotersteuerung und robotersteuerungsverfahren
US10377038B2 (en) 2016-03-17 2019-08-13 Kabushiki Kaisha Yaskawa Denki Robot controller and robot control method
DE102017204211B4 (de) 2016-03-17 2022-05-05 Kabushiki Kaisha Yaskawa Denki Robotersteuerung und Robotersteuerungsverfahren
KR101799057B1 (ko) * 2016-05-27 2017-11-17 재단법인대구경북과학기술원 능동형 상지 운동 보조장치
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

Also Published As

Publication number Publication date
BR112014023839A8 (pt) 2017-07-25
WO2013144103A1 (fr) 2013-10-03
BR112014023839A2 (enExample) 2017-06-20
FR2988320A1 (fr) 2013-09-27
US20150051732A1 (en) 2015-02-19
FR2988320B1 (fr) 2015-01-16
EP2830834A1 (fr) 2015-02-04

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