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

Yvan Measson

Xavier Lamy

François-Xavier Russotto

Olivier David

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

A method for handling of a first robotized mobile machine moving in a congested working environment under the control of a second robotized mobile machine, providing the operator, in real time, with a relevant view of the working scene, even if an object intrudes into the field of view of the camera and thereby obscures the operator's view. This method is based on use of properties of a physics engine of the constraint resolution type. For each object in the scene, the physics engine has a physical representation of said object in the form of a mesh. The engine calculates a wrench on the basis of the respective positions and velocities of two objects. In case of a collision between the manipulator and a fixed object in the scene, the engine determines the wrench to be applied to the manipulator in order to make it avoid the object.

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Palaiseau, France

Yvan Measson