Commissariat a L'energie Atomique

Riadh Cammoun

Frederic Sgarbi

Process for generating a trajectory for a robotized system comprising at least one member and making it possible to vary the speed of the movement in real time. The process consists of choosing a main movement, e.g. the translation movement of the member and all the other movements are dependent thereon. The main movement takes place on the trajectory broken down into a section having a speed ensuring the possibility of stopping the member at the end of the section following that which has been covered. The dependent movements are covered in synchronized manner with the main movement to the extent that this is possible. The invention can e.g. apply to the automatic trimming or deburring of parts having a complex shape. It is possible to envisage robotized systems formed from several independently mobile solids coordinated by the process, or several control dependency instructions.

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Antony, France

Riadh Cammoun