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1. WO2022129566 - CO-HANDLING ROBOT HAVING A MIXED-FORCE CONTROL LAW PROVIDING HIGH EFFECTOR SENSITIVITY AND ENABLING INTERACTION WITH THE BODY OF THE ROBOT

Publication Number WO/2022/129566
Publication Date 23.06.2022
International Application No. PCT/EP2021/086585
International Filing Date 17.12.2021
IPC
B25J 9/16 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
CPC
B25J 9/1633
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1628characterised by the control loop
1633compliant, force, torque control, e.g. combined with position control
B25J 9/1641
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1628characterised by the control loop
1641compensation for backlash, friction, compliance, elasticity in the joints
G05B 19/423
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
42Recording 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
423Teaching 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
G05B 2219/39529
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
39Robotics, robotics to robotics hand
39529Force, torque sensor in wrist, end effector
G05B 2219/41411
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
41Servomotor, servo controller till figures
41411Avoid integrator wind-up, saturation actuator by dead zone feedback for integral
Applicants
  • COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES [FR]/[FR]
Inventors
  • LAMY, Xavier
Agents
  • CABINET NONY
Priority Data
FR201361518.12.2020FR
Publication Language French (fr)
Filing Language French (FR)
Designated States
Title
(EN) CO-HANDLING ROBOT HAVING A MIXED-FORCE CONTROL LAW PROVIDING HIGH EFFECTOR SENSITIVITY AND ENABLING INTERACTION WITH THE BODY OF THE ROBOT
(FR) 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
Abstract
(EN) Disclosed is a co-handling robot having a mixed-forced control law providing high effector sensitivity and enabling interaction with the body of the robot. The invention essentially consists in carefully positioning a multi-axis force sensor between the end member (flange) of an industrial co-handling robot and the tool supported thereby, and in modifying an increased force control law implemented in the robot controller by introducing a saturation function.
(FR) 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.
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