Commissariat a L'energie Atomique

Bertrand De Cosnac

Jean-Paul Noel

Etienne Csakvary

Mayez Al Mouhamed

Alain Spiwack

A measured-force gripper device of articulated structure having several degrees of freedom and interposed between the contact plate and its support, the device comprising two fingers which can be displaced to grasp an article to be handled, each finger being formed by a support, a contact plate which contacts the article to be handled, an articulated structure, which has several degrees of freedom and is interposed between the contact plate and the support, and a displacement-measuring pickup associated with each of the degrees of freedom of each finger, the pickup delivering information related exclusively to the movements carried out in accordance with that degree of freedom.

Measured-force gripper device of articulated structure having several

The graphic information contained in the image is converted by means of a television camera to a video signal constituted by a succession of lines, each line being sampled sequentially so as to obtain an ordered series of points which is stored in memory. The method consists in selecting a parent point forming part of an isolated figure of the image. All the points in which the level of blackening on the image exceeds an adjustable threshold value are isolated automatically by marking with an automaton coupled with the memory. All the marked points corresponding to the figure are extracted from the memory and the figure is reconstituted from the points.

Growing community of inventors

Paris, France

Bertrand De Cosnac