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

Xavier Lamy

Florian Gosselin

Alain Riwan

Franck Geffard

Dominique Ponsort

Yvan Measson

Julie Dumora

Frédéric Colledani

Adrien Chambellan

Method for programming a force to be applied by a working end of a robot, along at least part of a preprogrammed path of the working end, the method comprising the steps of: &#x2014;moving the working end of the robot over the said at least part of the preprogrammed path, the driving of the robot being feedback-controlled in order to keep the working end in position without a force setpoint, &#x2014;at least at one position during the movement, having an operator apply to the working end a force which is the opposite of that which is to be applied during the task and which has an intensity proportionate to that which is to be applied during the task, &#x2014;determining the force that is to be applied during the task from the resistive force exerted by the robot in order to keep the working end on the path, &#x2014;storing in memory the force thus determined in relation to the position of the working end while the opposing force is being applied.

Method for programming a force to be applied by a robot

The invention relates to a robot comprising a tool (), a first chain of elements having a proximal end element () and a distal end element () to which the tool is connected, at least one control member () of the robot connected to one of the elements of the first chain of elements other than the distal end element, control means () for at least one part of the first element chain and the control member in order to associate, with a movement of the control member relative to the proximal end element along at least one degree of freedom of the control member, a more complex movement of the distal end element relative to the proximal end element along at least one of the degrees of freedom of the distal end element.

Co-handling robot comprising robot control means

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.

Control method for controlling a robot and control system employing such a method

A robotic device for providing assistance in manipulation, including a base having a movable segment mounted thereon in association with a motor-drive mechanism connected to a control unit. The segment having an end portion provided with a member for holding an element to be manipulated and a handle for enabling the end portion to be manipulated by an operator. The control unit is connected to a detection mechanism for detecting an external force applied on the end portion and arranged to control the motor-drive mechanism as a function of an amplification factor for amplifying the detected force and servo-control gains. The control unit is connected to a pressure sensor mounted on the handle to detect the force with which the operator grips the handle and is arranged to modify the amplification factor and the servo-control gains as a function of the detected grip force.

Robotic device for assisting handling having a variable force increase ratio

Detector device arranged to cover at least one portion of a mobile appliance; the device has an electromechanical transducer including a substrate, a first series of electrodes, a second series of electrodes, and a deformable layer associated with the electrodes of the two series, the substrate, the electrodes, and the deformable layer forming a single unit mounted on the portion of the mobile appliance and arranged so that a current flowing between one of the electrodes of the first series and an adjacent electrode of the second series is proportional to a thickness of the deformable layer in register with the electrodes. The substrate including a base layer to which are attached the electrodes of the first series and the electrodes of the second series, which have facing portions, and a variable conduction layer that covers the base layer and the electrodes.

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Issy-les-Moulineaux, France

Xavier Lamy