Commissariat &#xc0; L'&#xc9;nergie Atomique Et Aux &#xc9;nergies Alternatives

Julie Dumora

Franck Geffard

Xavier Lamy

A method for assisting in the control of a collaborative robot is provided, comprising a grasping member capable of holding a part at a grasping point, by an operator acting on control means disposed on the part at at least one holding point, the assistance method allowing the robot to execute a plurality of types of assistance, corresponding to a plurality of predetermined characteristic movements of the grasping member, comprises at least: a first step of detecting the intention of the operator determining the intention of the operator to execute a predetermined type of assistance from an analysis of haptic data of the operator; and a second step of determining the commands that the robot must execute as a function of the detected intention in order to provide the appropriate assistance.

Method and system for assisting in robot control, having a function for detecting the intention of an operator

A control method for the control of a robot by an operator, using control means which may be positioned at will at different locations of an item to be manipulated, comprises at least a step of determining the position and attitude of the control means on the basis of measurements of forces applied to the control means, defining a first force torsor, and on the basis of corresponding forces, at the gripping member of the robot for example, a step of determining force or force/position control setpoints for the robot on the basis of, at least, measurements of forces on the control means applied to move the item, and of the position and attitude determined during the determination step, and a control step in which the determined setpoints are sent to the robot. A control system employing such a method is also provided.

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Merignac, France

Julie Dumora