Commissariat a L'energie Atomique

Protee Groupement D'interet Economique

Jean-Marie Detriche

Paul Marchal

Jean Cornu

Dominique Biava

Bernard Tiret

Didier Houche

Richard Galera

Jean Vertut

Eric Villedieu

Alain Micaelli

Gilles Clement

Pierre Gil

Laurent Gachet

Gerard Jorge

A robotic system for use with at least two working stations and for carrying out tasks, is provided. At least one of the two working stations is mobile. The system according to the present invention comprises a controller for permitting the system to be controlled via a system interface located on the working stations, which interface is connected to an emission/receiver for exchanging information with the robotic system and the interface. A device for supplying energy to the system is provided which is comprised within the working stations. The system is self-propelled to permit autonomous movement between the two stations. Also, included are mechanical and electrical connections for permitting the system to be interchangeably disconnected from one of the working stations and reconnected to another working station.

Robot able to move on fixed or mobile working stations

A process for controlling a robot arm having a certain number of articulations or joints (A to F), which can abut. Substitution paths are automatically defined by calculation or by the choice of intermediate objectives in order to arrive at destination points, when the direct path would involve the abutment of certain joints.

Process for controlling a robot arm by defining substitution paths

A process for relocking a driverless, robotized vehicle (1) on a theoretical trajectory (T.sub.th2) in which during the passage of the vehicle through a joining section (S.sub.1), the curvature of the trajectory of the vehicle (1) is progressively modified as a function of the instantaneous curvature and the heading or course (.theta.). Thus, there are no orientation discontinuities along the trajectory, which imposes no impossible operating conditions on the drive members of the vehicle, but still makes it possible to converge rapidly with the theoretical trajectory.

Process for relocking on a theoretical trajectory for a vehicle, whilst

A system determines the movement of a track vehicle along the ground, the track vehicle having at least a first rotatable, endless track for supporting the vehicle on the ground, a drive for causing the movement of the vehicle, and a turning system for changing the direction of the movement of the vehicle. The system has a first traction-improvement device for mounting on the track vehicle. It bears on an inner-surface side of the first track with sufficient pressure for a small-surface portion on the opposite side of the first track to engage the ground with a higher pressure than any other portion of the first track, whereby to locate a pivoting axis of the track vehicle in the vicinity thereof. A first speed sensor for mounting on the track vehicle in the vicinity of the small-surface portion on the opposite side of the first track senses the speed of movement of the track vehicle along the ground only in the direction of the rotation of the first track and provides a first information thereof, whereby the movement of the track vehicle may be deduced therefrom. Preferably the vehicle has two tracks, and the system has two such traction-improvement devices and speed sensors respectively for the two tracks.

System for determining the movement of a track vehicle

The present apparatus scans a torch or other member in two directions contained in a scanning plane perpendicular to its advance direction. The apparatus includes means for controlling the speed of the torch in one direction and a means for controlling the position of the torch in the other direction are provided. There is also a position coder in accordance with the first direction supplying a signal which is compared with a reference amplitude, the result of the comparison supplying a signal for synchronizing the movements of the torch in said direction. Regulating means for defining the path of the torch in the scanning plane are also provided.

Apparatus for scanning a member in a plane perpendicular to its forward

The invention relates to a multiple coil eddy current probe equipped with a coil balancing device. This probe comprises several coils forming an eddy current probe supplying in each case one signal. Each coil is regulated to overvoltage by a regulating unit, which acts on the frequency of the high frequency oscillator supplying each coil. Application is to the automatic positioning of a welding torch and to the inspection of the weld.

Multiple coil eddy current probe equipped with a coil balancing device

Apparatus for resetting the path of a member comprises a member and a position detector, fixed to a carrier via a system comprising at least one carriage. The position detector supplies at least one signal representing the distance between the member and the line to be followed in a given direction. The apparatus includes for each direction, a carriage for translation of the member in said direction, a position coder associated with the carriage, a servocontrol arrangement to position the member in said direction and switches for locking the position of the member relative to the carrier for making the member dependent either on a reference position with respect to the carrier, or on a reference position with respect to the line to be followed by cancelling out the distance variation signals from the position detector. The process steps carried out by the apparatus are also disclosed.

Process for the resetting of the path of a member and apparatus for

The invention relates to an adaptive control tool holder for fixing to the end of the carrier of a robot, controlling the displacement of said end in accordance with a stored path. The tool holder defines a degree of freedom about an axis and a degree of translational freedom in a direction orthogonal to said axis. For a central translation reference position, the axis passes through the active center of the tool. A detection system rigidly fixed to the tool has preferably two detectors used for controlling the motors which control the two degrees of freedom, by means of independent feedback or control circuits. During the learning of the path prior to performing the task, the translation and the rotation are blocked in the reference position.

Positioning device

The invention relates to a method and apparatus for the lateral positioning of a member relative to a joint formed between two metal surfaces and having discontinuities. Use is made of an eddy current sensor having at least two probes staggered in the direction of the joint. The signals supplied by each probe are processed separately to obtain a signal representing the lateral displacement. By comparing said signal with a given threshold below the amplitude of the signal in the presence of a discontinuity, it is possible to only transmit to a servomotor signals which are below this threshold, which correspond to an effective measurement of the lateral displacement. Application is to automatic welding machines.

Method and apparatus for the lateral positioning of a member relative to

Process for the lateral positioning of a member relative to a joint formed between two metal surfaces and having discontinuities and using at least one eddy current probe, wherein the signal supplied by each of the probes are processed to obtain at least one positioning signal varying with the displacement of the axis of the corresponding probe relative to the axis of the joint and at least one signal indicating the presence of a discontinuity and transmitted when the corresponding probe faces a discontinuity of the joint, wherein the member is laterally displaced as a function of variations of the positioning signal and wherein the control of the displacement of said member is interrupted as a function of variations of the positioning signal when a signal indicating the presence of a discontinuity is transmitted. The invention also relates to an apparatus for performing this process.

Process and apparatus for the lateral positioning of a member relative

The invention relates to a system for detecting and locating surface discontinuity by a light beam; it is more particularly intended for detecting any discontinuity forming a line on this surface, or any discontinuity forming two opposite lines on this surface. In the latter case, this discontinuity may, for example, be the join defined by the opposite edges of two metal sheets to be welded.

System for detecting and locating surface discontinuity by a light beam

The invention relates to an automatic and self-adapting process for fusion-welding a joint between two surfaces, with the aid of a welding head which essentially comprises a joint detector and a torch supported by a carrier mobile along the joint. This welding head is mobile in rotation about a main axis related to the carrier and substantially perpendicular to the plane tangential to the surfaces to be welded at the location of the joint, and mobile in translation along this main axis. The torch and the detector are mobile in rotation about a secondary axis related to the head and parallel to the main axis and the torch is able to pass through the main axis in the course of its rotation about the secondary axis. A reference direction for all the degrees of freedom of the head is defined when the above-mentioned axes as well as the axes of the torch and the detector are in the same plane. This process is characterized in that it consists:

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Noisy le Roi, France

Jean-Marie Detriche