The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jan. 27, 2026
Filed:
Dec. 17, 2021
Applicant:
Commissariat a L'energie Atomique ET Aux Energies Alternatives, Paris, FR;
Inventor:
Xavier Lamy, Gif sur Yvette, FR;
Assignee:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
B25J 13/02 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01);
U.S. Cl.
CPC ...
B25J 9/1689 (2013.01); B25J 9/163 (2013.01); B25J 9/1633 (2013.01); B25J 13/02 (2013.01); B25J 13/085 (2013.01); B25J 13/088 (2013.01);
Abstract
A co-handling robot has a mixed-forced control law providing high effector sensitivity and enabling interaction with the body of the robot. A multi-axis force sensor is carefully positioned between the end member (flange) of an industrial co-handling robot and the tool supported thereby. A modified increased force control law is implemented in the robot controller by introducing a saturation function.