CONTROL METHOD FOR CONTROLLING A ROBOT AND CONTROL

专利名称：CONTROL METHOD FOR CONTROLLING A

ROBOT AND CONTROL SYSTEMEMPLOYING SUCH A METHOD

发明人：Julie Dumora,Franck Geffard,Xavier Lamy申请号：US14363771申请日：20121207

公开号：US20140324219A1公开日：20141030

专利附图：

摘要：A control method for the control of a robot by an operator, using controlmeans 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 thecontrol 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 grippingmember of the robot for example, a step of determining force or force/position controlsetpoints for the robot on the basis of, at least, measurements of forces on the controlmeans applied to move the item, and of the position and attitude determined during thedetermination step, and a control step in which the determined setpoints are sent to therobot. A control system employing such a method is also provided.

申请人：COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES

地址：Paris FR

国籍：FR

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