CO-HANDLING ROBOT HAVING ROBOT CONTROL MEANS

专利摘要:
The invention relates to a robot comprising a tool (8), a first chain of elements which comprises a proximal end element (6) and a distal end element (7) to which the tool is connected, at least one control member (9) of the robot connected to one of the elements of the first chain of elements other than the distal end element, control means (13, 14, 15) of at least a portion of the first element chain and the control member for associating with a movement of the control member relative to the proximal end element according to at least one degree of freedom of the steering member, a more complex of the distal end member relative to the proximal end member according to at least one of the degrees of freedom of the distal end member.
公开号:FR3022482A1
申请号:FR1455811
申请日:2014-06-23
公开日:2015-12-25
发明作者:Florian Gosselin；Xavier Lamy；Dominique Ponsort
申请人:Commissariat a lEnergie Atomique CEA；Commissariat a lEnergie Atomique et aux Energies Alternatives CEA；
IPC主号:

专利说明:

[0001] The invention relates to a co-manipulation robot comprising control means of the robot. BACKGROUND OF THE INVENTION In the field of robotics, there are various systems that assist the operators in their tasks. To manipulate objects remotely and perform arduous tasks, there are first of all called remote operation systems. These systems generally consist of a master arm and a slave arm coupled together. However, they are complex systems, both in their design and in their use. As a result, they are expensive and difficult to handle. In general the productivity obtained with these systems is lower than that obtained by intervening directly on a piece, with bare hands or via tools, to carry out the task. To assist the operator in performing a complex and / or painful task while maintaining a simpler system than tele-operation systems, so-called co-manipulation systems have been developed. These systems are generally composed of a comanipulation robot which performs the task to be performed via a tool 25 and which comprises a control member allowing the operator to control the movements of said comanipulation robot via said control member. Such a co-manipulation robot thus allows the joint manipulation of the tool with the operator and thus helps to assist the operator in the execution of the task to be performed. However, the movements performed by the operator are then generally reproduced identically by the tool. Thus, this type of robot proves to be able to effectively assist the operator only in the performance of simple tasks. OBJECT OF THE INVENTION An object of the invention is to provide a comanipulation robot to obviate at least in part the aforementioned drawbacks.
[0002] BRIEF DESCRIPTION OF THE INVENTION With a view to achieving this object, a co-manipulation robot is proposed comprising: a first chain of elements which comprises a proximal end element forming a base of the robot and an end element distal, the various elements being movably mounted relative to each other so that the distal end member is displaceable relative to the proximal end member, - at least one control member of the robot, said member being linked to one of the elements of the first chain of elements, other than the distal end element, and being arranged to be able to be moved directly by an operator relative to the proximal end element; controlling at least a portion of the first chain of elements and the control member, the first chain of elements, the control member and the control means being configured to at least one movement of the control member relative to the proximal end member in at least one degree of freedom of the control member is associated with a more complex movement of the end member. distal relative to the proximal end member in at least one of the degrees of freedom of the distal end member. Thus, the control means makes it possible to couple at least a portion of the degrees of freedom of the control member with at least a portion of the degrees of freedom of the distal end element, which enables them to impose the distal end member performs a more complex motion than the movement imposed on the operator by the operator. It is nevertheless always the operator who controls the movements of the first chain of elements and thus of the distal end element by physically interacting on the control element linked to said first chain of elements. Thanks to the coupling 5 between the distal end element and the control member, the operator can physically feel the interactions between the robot and its environment. In addition, his gesture may possibly be assisted or guided by the robot, which facilitates the completion of the task to be performed. In particular, the fact that certain movements of the distal end are coupled to a movement of the control member makes the use of the robot intuitive for the operator. The invention is therefore particularly useful for performing tasks requiring complex movements of the distal end element relative to an object or the environment of the robot, these tasks being controlled by simpler movements of the organ. piloting. It allows better co-manipulation ergonomics and can be used to perform complex tasks more quickly and more efficiently than prior art comanipulation robots. The invention is also particularly useful for performing a difficult or dangerous task at the distal end member. Indeed, the fact that the control member is not connected to the distal end member allows to move the operator away from the distal end element and therefore the dangerous work area.
[0003] The essential characteristics of the invention are therefore the presence of two interaction ports on the co-manipulation robot, one with the operator via the control device and the other with the environment via the control device. distal end element; 3022482 4 the fact that the control member is not integrated with the distal end element, which allows to move the operator away from the work area and make him make movements different from those of the distal end element of lesser amplitude; the presence of the control means which makes it possible to integrate couplings between the control member and the distal end element, the fact that at least one of the movements of the control member 10 is associated with a movement more complex of the distal end element. According to a particular embodiment, the first chain of elements, the control member and the control means are configured to impose at least one movement 15 of the control member relative to the end element applied to the displacement 20 force on proximal and / or to impose efforts the control member. so, it is possible to cause one of the steering member and / or apply a said steering member to oppose the movements imposed by the operator to the steering member, to guide the movements imposed by the operator to the steering body or to assist the movements imposed by the operator to the steering body or to ensure a return of efforts to the operator. The thus assisted or guided by the robot which accomplishment of the task to perform. According to a particular embodiment, gestures are facilitated the first chain of elements, the control member and the control means are configured so that forces applied to the distal end element are coupled to a movement. the control member relative to the proximal end member and / or forces applied to the control member by the operator.
[0004] Thus, the operator can control the forces applied to the distal end member and thereby the forces applied by the robot to its environment. The operator can therefore even more physically feel the interactions between the robot and its environment.
[0005] The use of the robot is particularly intuitive for the operator. In particular, the first chain of elements, the control member and the control means are configured so that each movement of the distal end member relative to the proximal end member is coupled to a movement of the control member relative to the proximal end member and / or forces applied to the operator control member, at least one of the movements of the distal end member relative to the proximal end member being coupled to a movement of the driver relative to the proximal end member. The fact that all movements of the distal end are coupled to a movement of the control member or to forces applied to the control member makes the use of the robot particularly intuitive for the operator. For the purposes of the present application, "coupling" means a mathematical function connecting the movements of the distal end element and / or the forces applied to said element with the movements of the control member and / or the forces applied to the steering body. For the purposes of this application, the term "more complex movement" of the distal end member means that for a given movement of the driver relative to the base, the corresponding movement of the distal end member relative to the base includes a greater number of degrees of freedom. The more complex movement is thus correlated with the associated movement of the control member while being able to respect one or more additional constraints. For example, the distal end follows a movement imposed by the control member while respecting the constraint "remain perpendicular to the object on which the robot interacts".
[0006] Thus, a wider movement of the distal end member relative to the base does not correspond to the definition of a "more complex motion" of the invention (although in the invention for a given movement of the relative to the base, the corresponding movement of the distal end member relative to the base can be both more complex and more ample). BRIEF DESCRIPTION OF THE DRAWINGS The invention will be better understood in light of the following description of particular, non-limiting embodiments of the invention. Reference will be made to the attached figures, among which: FIG. 1 is a diagrammatic three-dimensional view of a co-manipulation robot according to a first embodiment of the invention, FIG. variant of the co-manipulation robot illustrated in Figure 1; FIG. 3 illustrates a second variant of the co-manipulation robot illustrated in FIG. 1; FIG. 4 illustrates a third variant of the co-manipulation robot illustrated in FIG. 1; FIG. 5 illustrates a fourth variant of the co-manipulation robot illustrated in FIG. 1; FIG. 6 illustrates a schematic three-dimensional view of a co-manipulation robot according to a second embodiment of the invention; FIG. 7 illustrates a first variant of the co-manipulation robot illustrated in FIG. 6; ; FIG. 8 illustrates a second variant of the co-manipulation robot illustrated in FIG. 6; FIG. 9 illustrates a third variant of the co-manipulation robot illustrated in FIG. 6; FIG. 10 illustrates a fourth variant of the co-manipulation robot illustrated in FIG. 6; FIG. 11 illustrates a fifth variant of the co-manipulation robot illustrated in FIG. 6; FIG. 12 illustrates a schematic three-dimensional view of a co-manipulation robot according to a third embodiment of the invention, FIG. 13 illustrates a schematic three-dimensional view of a co-manipulation robot according to a fourth embodiment of the invention; FIG. 14 is a zoom of a portion of the robot illustrated in FIG. 13; FIG. 15 is a zoom of a portion of the robot illustrated in FIG. FIG. 16 is a diagram showing various steps of a folding task carried out by the robot 20 illustrated in FIG. 13; FIG. 17 illustrates a variant of the robot tool represented in FIG. 13; FIG. control program executed by the robot controller shown in Fig. 13; Fig. 19 illustrates another control program executed by the robot controller shown in Fig. 13. DETAILED DESCRIPTION OF THE INVENTION Fig. 1 illustrates a robot d e co-manipulation according to a first embodiment of the invention. The co-manipulation robot comprises a main chain of elements articulated together which comprises a proximal end element 6 forming a base of the robot and a distal end element 7. Said main chain of elements is here a chain at six degrees of freedom which consists of: - the base 6, - a first element 1 pivotally mounted on the base 6 about a first axis A1, 5 - a second element 2 pivotally mounted on the first element 1 around a second axis A2, - a third element 3 pivotally mounted on the second element 2 around a third axis A3, - a fourth element 4 pivotally mounted on the third element 3 around a fourth axis A4, - a fifth member 5 pivotally mounted on the fourth member 4 about a fifth axis A5, and - the distal end member 7 pivotally mounted on the fifth member 5 about a sixth axis A6® 15 The chain of elements ishere advantageously configured so that: the first axis A1 and the second axis A2 are concurrent and perpendicular, - the third axis A3 and the fourth axis A4 are concurrent and perpendicular, - the fourth axis A4 and the fifth axis A5 are concurrent and perpendicular, and - the fifth axis A5 and the sixth axis A6 are concurrent and perpendicular.
[0007] In particular, the robot comprises a tool 8. The tool 8 is here a motorized sander consisting of a body and a rotary brush having for axis of rotation a seventh axis A7. The tool is thus intended to sand an object P such as the bow of a boat.
[0008] The tool 8 is connected to the distal end member 7 so as to have as said distal end member 7 six degrees of freedom relative to the base 6 (degrees of freedom identical to those of the element of distal end 7). The tool 8 can thus be moved in all the directions of the space in translation and in rotation relative to the base 6. The axis A7 of the tool 8 can in particular be kept parallel to the plane tangent to the surface of the object P at the point of contact between the rotating brush and said object P.
[0009] The robot further comprises a control member which here comprises a handle 9. The handle 9 comprises for example a gripping zone shaped as a rod 10 and control buttons arranged on said rod (not shown and which will be described thereafter).
[0010] The handle 9 must have a sufficient number of degrees of freedom for the operator to carry out the sanding task, that is to say at least move the tool 8 over the entire surface of the object P if the sanding effort is automatically regulated or move the tool 8 over the entire surface 15 of the object P and regulate the sanding effort if this effort is managed by the operator. The movement of the tool 8 on the surface of the object P is a two-dimensional surface movement. The handle 9 must therefore have at least two degrees of freedom.
[0011] In particular, the handle 9 is connected to a projecting portion 11 of the second element 2. The second element 2 having here two degrees of freedom, the handle 9 also has here two degrees of freedom identical to those of the second element 2. The arrangement is particularly advantageous since it allows the handle 9 to be moved in two degrees of freedom without the need for a secondary chain of elements to connect the handle 9 to the main chain of elements. In addition, the second element 2 here has a "turret" -type movement and the projecting portion 11 is shaped so that the handle 9 is moved away from the first axis A1 and the second axis A2 in order to easily move the second element 2 around said first axis A1 and said second axis A2 by moving the handle 9. Thus, the handle 9 has small amplitude movements which are also very ergonomic. By moving the handle 9 according to its two degrees of freedom, an operator can "target" a precise point on the surface of the object P. The robot furthermore comprises control means for the robot and in particular the handle 9 and of the main chain of elements, and therefore of the tool 8 which is linked to the distal end element 7. The control means here comprise a controller 13 which executes control programs of the main chain elements of the robot to ensure a coupling between the handle 9 and the tool 8. More precisely, the controller 13 is here configured to manage the coupling of the movements of the handle 9 and the tool 8 and the forces exerted on the handle 9 by an operator and forces exerted by the object P on the tool 8. The control means also comprise driving members which make it possible to implement these couplings, each motor unit being here arranged at one of the joints of e the main chain 20 of elements so as to cause a displacement of one of the elements relative to the other element of the joint in question or to apply a force between these elements. The controller 13 controls the different drive members so that the tool 8 and the handle 9 can be moved in a coordinated manner relative to the base 6. The control means also comprise means for measuring forces which comprise, for example, a first multiaxis force sensor 14 which is arranged between the distal end element 7 and the tool 8 so as to be able to generate, to the controller 13, signals representative of the forces applied by the object P on the 8. The tool 8 is thus connected to the distal end element 7 via said multiaxis force sensor 14. The force measuring means 3022482 11 furthermore comprise here a second transducer. multiaxis effort 15 which is arranged between the second element 2 and the handle 9 so as to be able to generate, to the controller 13, signals representative of the forces applied to the handle 9 by the operator. The handle 9 is thus linked to the protruding portion 11 of the second element 2 via said multiaxis force sensor 15. The force sensors may comprise strain gauges.
[0012] The control means further include displacement measuring means which here comprise a plurality of position sensors, each sensor being arranged at one of the joints of the main chain of elements so as to be able to generate, destination of the controller 13, signals representative of the relative position of the two elements forming the joint considered. Position sensors may include angular encoders. The position sensors and the multiaxis force sensors thus enable the controller 13 to measure at any moment the movements of the tool 8 and the handle 9 relative to the base 6 and at any moment the forces applied to the handle 9 and on the tool 8. In particular, the robot here comprises cowlings that can hide the different drive members and position sensors (which are thus not visible in Figure 1). From the signals received by the position sensors and the multiaxis force sensors, the controller 13 controls the various drive members in order to couple the movements and / or the forces of the handle 9 to those of the tool 8. For example, the controller 13 is configured here so that, from the signals generated by the position sensors, the controller 13 controls the various motors 3022482 12 so that any movement of the handle 9 about the first axis A1 and the second axis A2 is used to move the tool 8 on the surface of the object P to be sanded at the point indicated by a line D connecting the center of the handle 9 to the point of concurrence of the first axis A1 and the second axis A2, such that this line always passes substantially close to the center of the tool 8 regardless of the positions of the robot and its main chain of elements. Note that the distance from said straight line D to the center of the tool 8 may vary depending on the configuration of the robot and may even be zero for some configurations of the robot. The second element 2 and the third element 3 advantageously having dimensions greater than those of the protruding part 11, the tool 8 is further away from the meeting point of the first axis A1 and the second axis A2 than the handle 9 and the movements of the tool 8 are amplified with respect to those of the handle 9. The controller 13 is also configured so that, from the signals generated by the position sensors, the controller 13 controls the various drive members in order to maintain the seventh axis of rotation A7 parallel to the plane tangential to the surface of the object P at the point of contact of the rotating brush on said surface of the object P and regardless of the movements of the handle 9 around the first axis Al and the second axis A2. In addition, the controller 13 is here configured so that, from the signals generated by the two multiaxis force sensors, the controller 13 controls the various drive members so that the sanding effort, that is, say the force exerted by the tool 8 on the object P, is regulated according to the forces exerted on the handle 9 by the operator. The force exerted on the object P by the tool 8 perpendicular to the surface of the object P is for example amplified with respect to the force exerted by the operator on the handle 9 along the line D. note that the sanding force could also be automatically regulated from the only signals generated by the multiaxis force sensor 14, without it being directly controlled by the operator, without departing from the scope of the invention. The controller 13 thus allows coupling of the handle 9 to the tool 8 to associate with a simple turret movement with two degrees of freedom of the handle 9, a more complex movement with six degrees of freedom of the tool 8. Thus, although the operator performs a simple and ergonomic gesture with two degrees of freedom and low amplitude at the handle 9, the controller 13 allows the tool 8 to perform a more complex movement, at six degrees of freedom and greater amplitude, to achieve the task. Preferably, the controller 13 may furthermore also need to control the various drive members so as to cause the handle 9 to move relative to the base 6 and / or to apply a force on said handle 9 to oppose the imposed movements. by the operator to the handle 9, to guide the movements imposed by the operator to the handle 9 or to assist the movements imposed by the operator to the handle 9. The controller 13 25 thus also ensures a return of efforts to the operator or to assist or guide him in his actions. In particular, the control means comprise an external measurement system 16, which comprises, for example, a vision device comprising a camera, said external measurement system 16 being associated with the controller 13. Thus, the controller 13 can use the signals from the external measurement system 16 in addition to or in replacement of the signals of the various position sensors for determining the position of the tool 3022482 14 8 and the handle 9 relative to the base 6 and / or the position of the tool 8 relative to the object P to control accordingly the various drive members. The controller 13 may also use the signals from the external measurement system 16 to determine the progress of the sanding task and accordingly control the different drive members. The main characteristics of this first embodiment are therefore 10 - the presence of two interaction ports implanted directly on the robot, one with the operator via the handle 9 and the other with the external environment to the robot via tool 8; the fact that the handle 9 is secured to an element of the main chain of elements other than the distal end element 7, which makes it possible to move it away from the tool 8 and to make it make movements different and of less amplitude than those of the tool 8 and the distal end member 7 to which the tool 8 is connected; the presence of a controller 13 allowing a coupling between the movements of the handle 9 and those of the tool 8; the fact that the different axes of rotation of the robot 25 are motorized, which makes it possible to assist the operator with effort and also to provide a force feedback at the level of the handle 9; the fact that the robot incorporates means for measuring the forces exerted by the operator on the handle 9 and the forces exerted by the object P on the tool 8. The co-manipulation robot of the first embodiment according to the invention makes it possible to assist the operator in his sanding task. As indicated, such sanding must be carried out using a rotating brush which must be positioned at each point on the surface of the object P. With a rotating cylindrical brush, such as illustrated here with reference to Figures 1 to 5, it is further necessary to maintain the axis of rotation of said brush 5 parallel to the tangent plane locally to this surface at the point of contact of the rotating brush against said surface of the object P. Finally, it is necessary to control the force applied by the rotating brush on the object P. This ensures a good quality of the sanding.
[0013] Traditionally, this task was performed by the unattended operator. The operator had to make gestures of great amplitude to sand the entire surface of the object P, which was tiring. He also had to perform large wrist movements so that the rotating brush remained tangent to the surface of the object P, which was uncomfortable in some situations where the wrist was very flexed. Finally he had to apply great effort both to carry the tool 8 and to sand the object P, which was once again tiring. The co-manipulation robot according to the first embodiment facilitates the sanding task for the operator who remains the only one to control the tool 8, the tool 8 is not moved until the operator The movements of the handle 9 are advantageously simpler and of smaller amplitude than those of the tool 8 while allowing to control the essential degrees of freedom of the task namely the movement of the tool. 8 over the entire surface of the object P if the sanding force is automatically regulated or move the tool 8 over the entire surface of the object P and regulate the sanding force if this effort is managed by the operator. Of course, the first embodiment described is not limiting and variations can be made thereto without departing from the scope of the invention as defined by the claims. In particular, it would be possible to use any other main chain of elements adapted to the task to be performed. It will thus be possible to use any other kinematics than that illustrated, for example a co-manipulation robot of the SCARA, DELTA type, a redundant robot or a parallel robot. The handle 9 can take any form 10 adapted to an input and ergonomic manipulation by the operator. For example, in a first variant of the first embodiment illustrated in FIG. 2, the handle 9 comprises two gripping zones, instead of just one as previously described, so that the handle 9 can be handled with both hands. . The handle 9 thus comprises a body 20 provided with two gripping zones each shaped as a handle 21, each handle 21 being intended to be grasped by a hand. The robot may then comprise only the second multiaxis force sensor 15 arranged between the body 20 of the handle 9 and the projecting portion 11 of the second element 2, as illustrated, or comprise two multiaxis force sensors respectively arranged between each handle 21 and the body 20 of the handle. In a second variant of the first embodiment illustrated in FIG. 3, the handle 9 itself comprises a projecting portion 30 which is connected at one of its ends to the second element 2 (which no longer has any protruding part therein). itself) and which carries at its other end a gripping zone shaped into a rod 31. The protruding portion 30 of the handle 9 allows to move the rod 31 away from the first axis A1 and the second axis A2. The second multiaxis force sensor 15 is then arranged between the second element 2 and the projecting portion 30 of the handle 9.
[0014] It is also possible, depending on the task, to perform a tool 8 different from what has been described. The tool 8 may thus include a gripper such as a motorized gripper with two jaws that can act directly or not on the environment. In a third variant of the first embodiment illustrated in FIG. 4, the tool 8 comprises a motorized gripper with two jaws 45 and a motorized sander 46 which is carried by said gripper 45. Being gripped in the jaws of the gripper 45, the motorized sander 46 is secured to said clamp 45 itself linked to the distal end member 7. According to another variant, the motorized gripper with two jaws may carry another instrument held by said clamp. It is also noted that instead of the two-jaw clamp a more complex gripper such as a dextral gripper or a robotic hand can be used. Note also that it will be possible for some tasks to act on the environment with a passive tool such as a non-rotating brush or a screwdriver. It will be possible to act on the environment directly with the gripper or the robotic hand, that is to say that the gripper or the robotic hand will not carry any sander or other instrument. Finally, in some cases, it will be possible to act on the environment directly with the distal end element of the robot or with the multiaxial force sensor 14, no tool, clamp or other gripper being then linked to the element distal end. Mobility may be inserted between the handle 9 and the second element 2 in particular to enrich the control of the operator on the task to be performed. In a fourth variant of the first embodiment illustrated in FIG. 5, the handle 9 is connected to the projecting portion 11 of the second element 2 via a secondary chain of elements. Said secondary chain of elements 35 here comprises an additional body 41 which is mounted on the second element 2 of the main chain of elements so as to be able to move in translation along an eighth axis A8 with respect to said second element. 2, the handle 9 being connected to said additional body 41 via the second multiaxis force sensor 15 so as to have the same degrees of freedom as said additional body 41. Thus the handle 9 has three degrees of freedom while the distal end element 7, and therefore the tool 8, always have six. The robot 10 thus has a tree structure, with a main kinematic chain between the base 6 and the distal end element 7 carrying the tool and a secondary kinematic chain between the base 6 and the additional body 41 carrying the handle 9. The additional mobility of the handle 9 along the eighth axis A8 can be used to implement more advanced couplings between the handle 9 and the tool 8. Thus, the controller 13 can be configured so that the movements of the handle 9 about the first axis Al and the second axis A2 are used to move the tool 8 on the sanding surface of the object P while maintaining the seventh axis A7 parallel to the plane tangent to the surface of the object P at point of contact of the rotating brush against said object P, and so that the movements of the handle 9 along the eighth axis A8 are used to regulate the support force of the tool 8 on the object P, this ef preferably, the robot is advantageously configured so that the eighth axis A8 is parallel to the line D and is concurrent with the axis A2 so that the motion of the handle 9 along said eighth axis A8 is decoupled from the "turret" type movements around the first axis A1 and the second axis A2.
[0015] In practice, in the robots illustrated in FIGS. 1 to 5, the amplification ratio in displacement between the handle 9 and the tool 8, 45, 46 is directly a function of the dimensions of the part 11 of the second element 2, the body 41 and the body 20, 30 of the handle 9 which define the distance between the handle 9 and the point of concurrence of the first axis A1 and the second axis A2 and secondly dimensions the second element 2, the third element 3, the fourth element 4, the fifth element 5, the distal end element 7, the force sensor 14, the tool 8, 45, 46, and the configuration of the elements 2 to 7 which define the distance between the tool 8 and the point of competition of the first axis Al and the second axis A2. On the robot illustrated in FIG. 5, by changing the distance between the handle 9 and the first axis of rotation A1 and the second axis of rotation A2, it is possible to modify said amplification ratio. This modification can be done during the initialization of the robot. The connection between the additional body 41 and the second element 2 can thus be achieved by a simple passive slide system, that is to say non-motorized, to modify the distance between the handle 9, the second axis A2 and the first one. Al axis, the additional body 41 being attached to the second member 2 for example by means of screws 25 before putting the robot into operation. This modification can also be performed continuously during the sanding task if the translational movement of the additional body 41 relative to the second element 2 is motorized. In any case, this modification will be taken into account in the controller 13 to control the robot correctly regardless of the distance between the handle 9 and the first axis A1 and the second axis A2. Of course, it will be possible to add other mobilities on the secondary chain of elements. The translation along the eighth axis A8 is provided only as an example. It would thus be possible to add between the second element 2 and the handle 9 several translation movements, or one or more rotational movements, or a combination of the two. It would still be possible to use a parallel structure, or even a tree structure, for the secondary chain of elements so that the handle 9 can be handled by two hands by the same operator or by two different operators. For example, the projecting portion 11 of the second element 2 may be placed in the extension of said second element 2 so that said projecting portion 11 extends on the side opposite to the third element 3, the handle 9 being connected to the projecting portion 11 of the second element 2 via a secondary chain of elements. Said secondary chain of elements will advantageously comprise an additional body which will be pivotally mounted on the projecting portion 11 of the second element 2 of the chain of elements and which will be controlled by the controller 13 so as to form with the projecting portion 11 of the second element 2 on the one hand and with the second element 2 and the main extension axis of the third element 3 and the fourth element 4 on the other hand a pantograph structure ensuring that the ratio between the distance from the center of the handle 9 at the first competition point of the first axis Al and the second axis A2 and between the distance of the first competition point to the second competition point of the fourth axis A4, the fifth axis A5 and the sixth axis A6 remains constant regardless of the movements of the handle. In this case, the line D can pass permanently through the second point of competition of the fourth axis A4, the fifth axis A5 and the sixth axis A6, and by the center of the tool 8, if one uses to perform the movements around the fourth axis A4, fifth A5 and sixth axis A6 a wrist centered and that the center of the tool 8 is at the second point of competition.
[0016] It will still be possible to link the handle 9 to any other element of the main chain of elements, other than the distal end element 7, either directly or via a secondary chain of elements. and / or 5 by force measuring means such as a multiaxis force sensor, the only limitations being on the one hand that the handle 9 should have a sufficient number of degrees of freedom to be able to control the characteristic movements of the task to perform, here two degrees of freedom for sanding the surface of the object P, and secondly that the handle is not connected to the distal end element 7 so that its movements are not identical to those of the tool 8, that they can be simpler, and that the operator can be moved away from the working zone. It will be noted that the couplings between the movements and the forces of the handle 9 and the tool 8 can advantageously be modified according to the task to be performed and / or during this task. For example, the robot according to the fourth variant of the first embodiment illustrated in FIG. 5 can use the movement along the eighth axis A8 to modify the amplification factor between the movements of the handle 9 and the tool. 8, using for example a large amplification ratio for a first coarse brushing and a lower ratio for a more accurate finish. This modification can be done continuously or discretely, automatically or contextually, for example from the information of the external measurement system 16, or manually by pressing the control buttons of the handle 9. Thus we can start the work with a distance between the handle 9 and the first axis Al and the second A2 low and fixed, which corresponds to a large factor 35 amplification. The operator will then be able to judge if the 3022482 22 gross sanding enough press a control button, which will freeze all movements except the one along the eighth axis A8, allowing him to increase the distance between the handle and the first axis A1 and the second A2. The controller 13 will be reconfigured automatically accordingly. Once this modification is made, the operator can release the control button, the distance between the handle and the first axis Al and the second A2 then being fixed again but higher than before, which corresponds to a factor of lower amplification adapted to the finish of the brushing. The robot may also have no means for modifying the configuration of the robot and the controller 13, the controller 13 then being always activated in a nominal mode. Buttons of the handle 9 may also be used for other functions such as acting on the tool, the gripper or other grippers for example for starting the motor of the rotating brush or the control of the closure of the foregoing two-jaw pliers. Note that for certain objects P, the maintenance of the tool 8 in contact with said object P and / or the axis A7 of said tool 8 parallel to the plane tangent to the surface of the object P at the contact point of the brush rotating on said surface of the object P may require a movement of the second element 2 which will accompany and amplify, or on the contrary, oppose the movement of the handle 9 about the second axis A2. To avoid this, one can either use the robot for sanding certain objects P adapted to the kinematics of said robot, or add mobility to the robot at the main chain of elements or between the main chain of and the handle 9, again use a different tool, for example an O-brush instead of the cylindrical brush shown in Figures 1 to 5. The contact between an O-brush and the object P being quasi-punctual such a brush does not need to maintain the axis A7 of the tool 8 parallel to the plane tangent to the surface of the object P at the point of contact of the rotating brush on said surface of the object 5 P and the mobilities around the third axis A3, the fourth axis A4, the fifth axis A5 and the sixth axis A6 can be used to keep the brush O in contact with the object P at the point targeted by the line D (connecting the center of the handle 9 at the contest point of the first axis 10 A1 and second axis A2) without interfering with the movements of the second element 2 controlled by the user. Referring to Figure 6, a second embodiment of the invention will now be described. The 15 elements in common with the first embodiment retain their numbering increased by one hundred. The co-manipulation robot according to the second embodiment is dedicated to assisting the operator in drilling holes on an object such as a cylindrical piece P of the cabin of an aircraft, these holes being intended to receive rivets which will fix this piece on other parts of the plane which are contiguous to it. The piece P is thus defined here by a generating line G according to which the piece extends and by a circular guide curve C. The co-manipulation robot according to the second embodiment comprises a main chain of elements with six degrees of freedom. The main chain of elements is composed of: - a proximal end element 106 forming a base of the robot, - a first element 101 mounted on the base 106 so as to be able to move in translation along a first axis B1 translation with respect to the base 106, 35 - a second element 102 pivotally mounted on the first element 101 around a second axis B2, - a third element 103 pivotally mounted on the second element 102 around a third axis B3, a fourth element 104 pivotally mounted on the third element 103 around a fourth axis B4, a fifth element 105 pivotally mounted on the fourth element 104 about a fifth axis B5, and an end element distal 107 pivotally mounted on the fifth member 105 about a sixth axis 36.
[0017] The co-manipulation robot further comprises a secondary chain of elements with three degrees of freedom. The secondary chain of elements is composed of: a first body 141 mounted on the first element 101 so as to be able to move in translation along a seventh translation axis B7, here merged with the first axis Bi, relative to the first element 101, a second body 142 mounted on the first body 141 so as to be movable in translation along an eighth translation axis 38 relative to the first body 141, and 20 - a third body 143 mounted on the second body 142 so as to be movable in translation along a ninth translation axis 39 relative to the second body 142. The handle 109 is directly connected to the third body 143 so as to be integral with the third body 143. The handle 109 therefore comprises three degrees of freedom, the movement along the seventh axis B7 being a combination of the movements of the first element 101 and the first body 141. The tool 108 is here secured to the end element This is a drill comprising a motorized body and a mandrel which carries a drill bit extending along a tenth axis B10 and rotatable about said tenth axis 310. In the co-manipulation robot according to the first embodiment, co-manipulation according to the first embodiment illustrated in FIG. 1, all the degrees of freedom are not shared between the main kinematic chain (defined as the chain of elements from base 106 to tool 108) and the secondary kinematic chain (defined as the chain of elements and bodies from base 106 to handle 109). The co-manipulation robot according to the second embodiment therefore has a total number of degrees of freedom equal to the sum of the mobilities required for the displacement of the tool 108 (ie six degrees of freedom here to be able to drill holes in the right direction). any point of the piece P and any orientation) and the handle 109 (three degrees of freedom here to be able to control the essential degrees of freedom of the drilling task, which are a linear motion along Generator G, a circular motion along the C-directional curve and a linear motion perpendicular to the surface of the object P to effect drilling). Said robot thus has nine degrees of freedom. The controller 113 of the co-manipulation robot is configured to couple the movements of the handle 109 and the tool 108. For this purpose, the control means comprise a first group of driving members: each motor unit 25 comprises a motor 150 and a gearbox 151 associated with said motor 150. Each motor 150 is arranged at one of the mechanical links of the main chain of elements so as to allow a displacement of one of the elements of said link relatively to the other element of said link via the associated reducer 151. These reducers 151 are for example capstan reducers cable in translation for the reducer associated with the connection between the first element 101 and the base 106 and in rotation for others. These reducers 151 are well known in the prior art and will not be detailed here. They have the particularity of being reversible and having a very good performance. Preferably, the motors 150 are DC motors with an ironless rotor. It is therefore possible to have a very good estimate of the forces applied to the tool 108 by the cylindrical part P by directly measuring the motor currents. The force measuring means therefore comprise means for measuring the motor currents (not shown here). The displacement measuring means furthermore comprise position sensors 152, each motor 150 being associated with a position sensor 152. In addition, the control means comprise a second group of driving members: each motor unit comprises a motor 153 and a gearbox 154 associated with said engine 153.
[0018] Each motor 153 is arranged at one of the mechanical links of the secondary chain of elements so as to allow a displacement of one of the elements of said link relative to the other element of said link via the associated gearbox 154 . These gearheads 154 may be, as on the main chain of elements, cable gears and motors 153 of DC motors with no iron rotor. The force measuring means thus comprise means for measuring the motor currents of the motors of the second group of motor members (not shown here). The displacement measuring means furthermore comprise position sensors 155, each motor 153 of the second group of driving members being associated with a position sensor 155. The signals generated by the various position sensors and by the measuring means motor currents are transmitted to the controller 113 which uses them to control the motors to couple the handle 109 to the tool 108. Preferably, the controller 113 is here configured so that 3022482 27 - any movement of the handle 109 along the seventh axis B7 causes the tool 108 to move along the generating line G, - any movement along the ninth axis B9 of the handle 109 causes the tool 108 to move along the curve direction C, and - any movement along the eighth axis B8 of the handle 109 causes the tool 108 to move perpendicularly to the cylindrical part P and in particular to advance the util 108 in the direction of the cylindrical piece P perpendicularly to said piece (movement to perform the holes on said piece). The three-dimensional translation movements of the handle 109 along the seventh axis B7, the eighth axis B8 and the ninth axis B9 are thus transformed into more complex six-dimensional translational and rotational movements of the tool 108 on the surface of the cylindrical piece P and perpendicular to it and are further advantageously amplified.
[0019] The motors 153 of the second group of driving members may also be controlled by the controller 113, as in the first embodiment, to guide the movements of the operator, for example so that the handle 109 is forced to follow a trajectory. target 25 for piercing the cylindrical part P at particular points. The motors of the different groups of driving members can also be controlled by the controller 113 so that the force exerted by the tool 108 on the cylindrical part P is regulated as a function of the forces exerted on the handle 109 by the operator . The force exerted on the cylindrical piece P by the tool 108 is for example amplified relative to the force exerted by the operator on the handle 109.
[0020] The co-manipulation robot according to the second embodiment of the invention thus makes it possible to assist the operator in his drilling task. As indicated, for each hole, it is necessary to position the tool 108 perpendicularly to the cylindrical part P and then to perform a gesture along the tenth axis B10 in the direction of said piece P. Traditionally, this task was performed by the operator without assistance on large pieces of potentially complex geometry. The operator had to perform large gestures, which was tiring. He also had to make great wrist movements to always be perpendicular to the surface of the cylindrical piece P, which was uncomfortable in some situations where the wrist was very flexed. Finally he had to apply significant efforts both to carry the tool 108 and to perform the holes, which is again tiring. The co-manipulation robot according to the second embodiment of the invention greatly facilitates the drilling task for the operator who remains the only one to control the tool 108, the tool 108 being not moved. as long as the operator does not move the handle 109. The movements of the handle 109 are advantageously more simple and of smaller amplitude than those of the tool 108 although the handle 109 allows the essential degrees of freedom of the machine to be controlled. drilling task namely the movement of the tool 108 on the surface of the cylindrical piece P and the movement of the tool 108 in the direction of said piece P to pierce it. In the first embodiment and its variants illustrated in FIGS. 1 to 5, the pivot connections between the base 6 and the handle 9 make it possible naturally to have a lever arm between the handle 9 and the tool 8. , it is possible to realize naturally 3022482 29 movements of the tool 8 of greater amplitude than those of the handle 9 without it being necessary for the robot to have a number of degrees of freedom equal to the sum the necessary mobilities on the handle 9 (two for the first embodiment and its variants illustrated in FIGS. 1 to 5) and the necessary mobilities on the tool 8 (ie six for the first embodiment and its illustrated variants by Figures 1 to 5). Such a co-manipulation robot therefore has a simpler architecture. However, part of the couplings between the handle 9 and the tool 8 are mechanically imposed. In the second embodiment, on the contrary, the presence of slide links between the base 106 and the handle 109 no longer allows to benefit from a natural lever arm. The co-manipulation robot according to the second embodiment is therefore more complex. However, all the couplings between the handle 109 and the tool 108 can then be managed by the controller 113. According to a first variant of the second embodiment illustrated in FIG. 7, a part of the couplings between the handle 109 and the tool 108 is also imposed mechanically. Thus, the first body 141 of the secondary chain of elements is movably mounted in translation directly on the base 106 along the seventh 25 axis of translation B7, here parallel but not coincidental to the first axis Bi. In addition, the robot comprises here only a single motor 150a to allow movement of the first element 101 relative to the base 106 and the displacement of the first body 141 relative to the base 106. Said motor 150a is arranged so as to cause both the first element 101 via a first gear 151a and the first body 141 via a second gear 151b. By using different reduction ratios for the first gearbox 151a and the second gearbox 151b, it is possible to mechanically and cost-effectively couple the movements of the handle and the tool along the seventh axis 37 respectively. along the first axis Bi. This first variant thus makes it possible to economize an engine with respect to the configuration of the second embodiment illustrated in FIG. 6 (it is in fact then necessary to have a first motor 150 for driving in translation of the first element 101 relative to the base 106 along the first axis B1 and a second motor 153 for translational driving of the first body 141 relative to the first element 101 along the seventh axis B7). However, the amplification ratio between the movements of the tool 108 along the first axis B1 and the handle 109 along the seventh axis B7 is fixed. As a result, the amplification ratio between the movement of the tool 108 along the generator G and the movement of the handle 109 along the seventh axis B7 is fixed and it is therefore not possible to modify this coupling. modifying the controller parameters 113 on these movements.
[0021] According to a second variant of the second embodiment, illustrated in FIG. 8, the couplings between the handle 109 and the tool 108 are completely free, as for the robot according to the second embodiment illustrated in FIG. mobilities 25 between the main chain of elements and the secondary chain of elements is different. Here all the movements of the handle 109 are provided by the main chain of elements which has the nine degrees of freedom necessary for the movements of the handle 109 and the tool 108. The main chain of elements is then composed of: a proximal end element 106 forming a base of the robot, a first element 161 mounted on the base 106 so as to be able to move in translation along a first axis C1 relative to the base 106; second member 162 mounted on the first member 161 so as to be translationally movable along a second axis 02 relative to the first member 161; - a third member 163 mounted on the second member 162 so as to be movable in translation on along a third axis 03 relative to the second element 162, - a fourth element 164 mounted on the third element 163 so as to be able to move in translation along a fourth axis 04 rel to the third member 163, a fifth member 165 pivotally mounted on the fourth member 164 about a fifth axis 05; a sixth member 166 pivotally mounted on the fifth member 165 about a sixth axis 06; member 167 pivotally mounted on the sixth member 166 about a seventh axis C7, - eighth member 168 pivotally mounted on the seventh member 167 about an eighth axis 08, 20 - a distal end member 169 pivotally mounted on the eighth element 168 around a ninth axis 09. The main chain of elements thus comprises nine degrees of freedom. It makes it possible to move both the tool 108 at any point of the cylindrical piece P perpendicular to it to correctly perform the holes and both the handle 109 according to three degrees of freedom. The handle 109 comprises, for example, a gripping zone shaped as a handle 110 and control buttons 117 arranged on said handle 110. As in the second embodiment of the invention illustrated in FIG. 6, the handle 109 is directly related to one of the elements of the main chain of elements so as to be integral with said element. Here the handle 109 is directly attached to the third member 163.
[0022] The structure of the robot according to the second variant of the second embodiment of the invention thus gives three degrees of freedom in translation to the handle 109 and six degrees of freedom to the tool 108.
[0023] In particular, the controller 113 uses the same types of couplings between the handle 109 and the tool 108 as for the robot of the second embodiment illustrated in FIG. 6. The controller is thus configured so that the movements of the handle 109 along the first axis C1 and the third axis C3 cause a movement of the tool 108 on the cylindrical surface of the part P - the movements of the handle 109 along the second axis C2 cause a movement of the tool Perpendicularly to the cylindrical surface of the workpiece P. The movements of the handle 109 are here of small amplitudes, which allows ergonomic and safe handling. The movements of the tool 108 are larger and allow the handle 109 to be reoriented to properly drill all the holes. In this variant, the tool 108 has six degrees of freedom with respect to the handle 109, which makes it possible to drill holes on different types of parts and, in particular, on cylindrical parts having a non-parallel generating line fourth axis C4, fifth axis C5 and sixth axis C6. According to a third variant of the second embodiment illustrated in FIG. 9, the tool 108 has a lower number of degrees of freedom than in the other variants of the second embodiment. Indeed, in this third variant, the cylindrical piece P is arranged so that its generating line G is parallel to the fourth axis C4, the fifth axis C5 and the sixth axis C6. Under these conditions, it suffices that the tool 108 has four degrees of freedom for the drilling task to be performed correctly, that is to say, to be able to have the tool 108 describe a movement along its length. the cylindrical surface of the piece P, to always be able to orient the tool 108, and in particular the axis along which the drill bit extends, perpendicular to said cylindrical surface, and to perform a drilling movement perpendicular to the surface Thus, in the third variant of the second embodiment, the robot is shaped so that the handle 109 has three degrees of freedom relative to the base 106 and the tool 108 has four relative degrees of freedom. to the handle 109. Thus, the robot according to this third variant of the second embodiment is a redundant robot with four degrees of freedom and seven kinematic links. Its operational movements make it possible to move the tool 108 according to four degrees of freedom and its internal movements to make with the handle 109 movements different from those of the tool 108 according to three degrees of freedom.
[0024] For this purpose, the main chain of elements is composed here of the base 106, the first element 161, the second element 162, the third element 163, the fourth element 164, the fifth element 165, the sixth element 166, as in the second variant of the second embodiment. Said chain nevertheless comprises a distal end element 169 which is mounted directly pivoting on the sixth element 166 around a seventh axis D7. Figure 10 illustrates a fourth variant of the second embodiment in which the robot is more simply configured. The main chain of elements comprises, a base 106, a first element 161, a second element 162, a third element 163 and a fourth element 164 35 similar to those of the second variant of the second embodiment 3022482 34. The chain of elements also includes a fifth member 165, a sixth member 166, and a distal end member 167 arranged differently than those of the second variant of the second embodiment. The chain of elements thus comprises - a fifth element 165 mounted on the fourth element 164 so as to be movable relative to the fourth element 164 along a fifth axis E5 which is curved and substantially coaxial with the directing curve C of the cylindrical part P the fifth member 165 being shaped as a concentric circular guide to said curved axis E5, a sixth member 166 pivotally mounted on the fifth member 165 about a sixth axis E6, thereby controlling the orientation of the tool 108 of so as to keep the tool 108 perpendicular to the surface of the cylindrical piece P in the case where the fifth axis E5 and the guide curve C are not perfectly coaxial, - a distal end member 167 mounted on the sixth member 166 so as to be movable in translation along a seventh axis E7 relative to the sixth element 166. In the case where the steering curve C and the fifth ei axis E5 are perfectly coaxial couplings managed by the controller 113 between the handle 109 and the tool 108 are very simple. Actually, the controller 113 can then control the different motor organs of the robot so that - a movement of the handle 109 along the third axis C3 causes a movement of the tool 108 along the generative line G, according to which the piece extends, - a movement of the handle 109 along the first axis C1 causes a movement of the tool 108 around the guide curve C, the circular movement of the tool 108 then being more complex than the movement of mono-axial translation of the handle 109, 35 - a movement of the handle 109 along the second axis C2 causes a movement of the tool 108 along the seventh axis E7. In the case where the guide curve C and the fifth axis E5 are not perfectly coaxial, the controller 113 is configured so that the movement of the tool 108 around the sixth axis E6 is coupled with other movements of the tool 108 and / or handle 109 to maintain the tool 108 perpendicular to the surface of the cylindrical piece P regardless of the movements of the tool 108 along the seventh axis E7. FIG. 11 illustrates a fifth variant of the second embodiment in which the tool 108 and the handle 109 each have six degrees of freedom and can perform different movements relative to the base 106. The main chain of elements is here identical to that illustrated in Figure 8. In contrast, the robot further comprises a secondary chain of elements with three degrees of freedom. The secondary chain of elements is composed of: a first body 141 pivotally mounted on the third element around a tenth axis 010, a second body 142 pivotally mounted on the first body 141 around an eleventh axis Cil, and a third body 143 pivotally mounted on the second body 142 about a twelfth axis 012. It is then possible to have couplings implemented by the controller 113 on the tool side 108 but also on the handle side. 109.
[0025] On the side of the tool 108, the controller 113 can use the same types of couplings as for the robot according to the second variant of the second embodiment illustrated in FIG. 8. The controller can thus be configured so that the movements of the handle 109 along the first axis Cl 3022482 36 and the third axis C3 cause a movement of the tool 108 on the cylindrical surface of the part P - the movements of the handle 109 along the second axis C2 cause a movement of the tool 108 perpendicular to the cylindrical surface of the piece P. On the side of the handle 109, the controller 113 may for example be configured to maintain the handle 109 always vertical. It can also be configured so that the orientation of the handle follows that of the tool, and advantageously that the twelfth axis C12 remains parallel to the axis C13 of the tool (that is to say the axis along which the drill bit extends and around which said drill bit can be rotated), the axis of the tool C13 advantageously being itself guided according to the task to be performed, for example on the basis of the information provided by the external measurement system 116. Thus, ergonomics is enhanced. The operator can advantageously choose, with the aid of the control buttons 117, between use with a vertical handle 109 and use with a handle 109 whose orientation is controlled by the controller 113 as mentioned above. Of course, when switching from use with a vertical handle 109 to use with a handle whose orientation is controlled by the controller 113, the couplings between the tool 108 and the handle 109 are temporarily inactive the time for the robot to initialize the coupling formulas. However, the couplings are very active outside these initialization phases that are placed in a use with a vertical handle 109 or that one is placed in a use with a handle whose orientation is controlled by Of course, these couplings are only given as examples and any other solution could be retained.
[0026] This ability to modify the couplings, both handle and tool side, depending on the task at hand and ergonomic criteria, is an advantageous feature of the invention.
[0027] Of course the second embodiment and its variants described are not limiting and modifications can be made without departing from the scope of the invention as defined by the claims. As can be seen, the robot according to the second embodiment can take different configurations and those illustrated are not limiting. Of course, the handle may have any other shape than that illustrated adapted to an ergonomic grip. In the same way, the tool could be of any type adapted to the task to be accomplished. As in the first embodiment, the tool can thus include a gripper, such as a motorized clamp with two jaws, which can act directly on the environment or carry an instrument as a drill. It will also be noted that for some tasks it will be possible to act on the environment with a passive tool. It will be possible to act on the environment directly with the gripper or the robotic hand, that is to say that the gripper or the robotic hand will not carry any drill or other instrument. Finally, in some cases, it will be possible to act on the environment directly with the distal end element of the robot, no tool, pliers or other gripper being then secured to the distal end element. Of course we can use any other type of gearboxes than those described and, in particular, gear reducers, epicyclic or Harmonic Drive type.
[0028] Although here the robot does not have a multiaxis force sensor 3022482 38, the robot may include such sensors in addition to or in replacement of the means for measuring the motor currents. In addition to the control means, the robot according to the second embodiment may also comprise passive mechanical coupling means such as gears, pulleys or cam systems which will make it possible to replace certain controlled couplings between the tool and the handle. by passive mechanical couplings.
[0029] FIG. 12 illustrates a co-manipulation robot according to a third embodiment of the invention wherein the control means is configured to controllably couple only part of the movements of the tool 208 with only a portion of those of the handle 209, the movements of the tool 208 being identical to those of the handle 209 for the other directions. The elements in common with the first embodiment retain their numbering increased by two hundred. The robot according to the third embodiment of the invention is intended to assist the operator in a task of brushing an object such as a pipe P. The pipe P is thus defined by a generating line G according to which the pipe extends and by a circular guide curve C. The main chain of robot elements here consists of: a proximal end element 206 forming a base of the robot, a first element 201 mounted on the base 206 so as to be mobile in translation relative to the base along a first axis F1, the first axis Fi being here parallel to the generating line G, - a second member 202 mounted on the first member 201 so as to be movable relative to the first member 201 along a second axis F2 which is curved and substantially coaxial with the guide curve C, the first member 201 having here a portion shaped as a concentric circular guide to said curved axis F2 on which the second member 202 is movably mounted, and - a distal end member 207 mounted on the second member 202 so as to be translationally movable relative to the second member 202 along a third axis F3. The tool 208 here comprises a body comprising a motor and a brush rotated by said motor about a fourth axis F4. The robot further comprises a secondary chain of elements composed of an additional body 241 mounted on the first element 201 so as to be movable in translation relative to the first element 201 along a fifth axis F5 here perpendicular and secant to the first axis F1. The handle 209 is connected here to said additional body 241 via a multiaxis force sensor 215, and therefore has the same degrees of freedom as the additional body 241. The handle 209 can thus be moved by the operator in a horizontal plane defined by the first axis Fi and the fifth axis F5. The robot further comprises on all these axes of the drive members and displacement measuring means 25 similar to those of the robot illustrated in FIG. 6. The movements of the handle 209 along the first axis Fi directly cause identical movements of the tool 208 along said first axis Fi, these movements not being controlled by the controller 213.
[0030] Preferably, the controller 213 is configured so that on the other axes a movement of the handle 209 along the fifth axis F5 causes a movement of the tool 208 about the second curve axis F2, the circular movement of the tool 35 208 being then more complex than the movement of 3022482 mono-axial translation of the handle 209, - as a function of the forces applied to the handle 209 by the operator (measured for example by the multiaxis force sensor 215 arranged between the handle 209 and the additional body 241), the controller 213 regulates the forces exerted by the tool 208 on the pipe P. The force exerted on the pipe P by the tool 208 is for example amplified relative to the force exerted by the operator on the handle 209 along an axis perpendicular to the axes Fi and F5. Of course, the third embodiment described is not limiting and variations can be made without departing from the scope of the invention as defined by the claims.
[0031] In particular, the force exerted on the pipe P by the tool 208 may be regulated as a function of a movement of the handle 209 along a sixth axis, perpendicular to the horizontal plane, instead of being regulated as a function of the forces exerted on the handle 209.
[0032] Referring to Figures 13 to 16, a robot according to a fourth embodiment of the invention will now be described. The elements in common with the first embodiment retain their numbering increased by three hundred.
[0033] As with the co-manipulation robot of the third embodiment, the movements of the tool of the co-manipulation robot are identical to those of the handle on certain axes and these movements are coupled on other axes by the intermediate control means. The robot according to the fourth embodiment of the invention is intended to assist the operator in a task of unrolling and folding armor wires initially wound helically on an object such as a cylindrical P-shaped hose . The hose P is therefore defined by a generating line G in which the hose extends and by a circular guide curve C. The bending of the various yarns takes place at the interface between the yarns and the outer layer of the hose P which also comprises an inner layer, the yarns being disposed between the inner layer and the outer layer of the hose P. The orientation of the yarn around its axis and the sliding along the same axis are not controlled during this operation, only five degrees of freedom at the tool level are required to perform this task. As indicated below, these mobilities are provided here by five elements 301, 302, 303, 304 and 307 movable along or about axes H1, H2, H3, H4 and H5. This bending movement of the threads is carried out along a three-dimensional path around the hose. It is necessary for the operator to control the advancement along this nominal trajectory and to deviate from it by rotating around the generating line G. This advance and this rotation define the degrees of freedom essential to the control of this trajectory. folding task. These degrees of freedom are two in number and the robot control member must therefore have at least two degrees of freedom. Thus, the main chain of robot elements here consists of - a proximal end element 306 forming a base of the robot, - a first element 301 mounted on the base 306 so as to be movable in translation relative to the base 306 along a first axis H1, the first axis H1 being here coincident with the generating line G, - a second element 302 pivotally mounted on the first element 301 around a second axis H2, the second axis H2 being here coincides with the first axis H1, 35 - a third element 303 pivotally mounted on the second element 302 around a third axis H3, - a fourth element 304 pivotally mounted on the third element 303 around a fourth axis H4 a distal end member 307 pivotally mounted on the fourth member 304 about a fifth axis H5. Base 306 is stationary during operation of the above task. However, the base 306 is here arranged so that it can be moved out of the service periods of the robot. The base 306 for example has a projecting portion intended to extend inside the hose P, the projecting part then being concentric with the hose P. Once the robot is in place, that is to say that the projecting part of the base 306 has been inserted into the hose P, said projecting part is secured to the hose P in order to prevent any proper rotation of the hose P around the generating line G when the threads are unwound and folded around the hose P. In particular, the steering member comprises a flywheel 309. The flywheel 309 is here linked to the second element 302 via a force measuring member 315, which will be detailed below, so as to have the same degrees of freedom as the second element 302. The flywheel 309 thus has two degrees of freedom 25 relative to the base 306. The tool 308 is here directly linked to the distal end element 307 of the robot. so to be e secured to said end member. The tool 308 here comprises a clamp comprising a body 370 and two jaws 371 hinged to the body 370. The tool 308 also includes a strike associated with two solenoids 372 for controlling the opening of the clamp. The control of the closure of the clamp is here manual but it could alternatively be automatic.
[0034] Thus, when the clip is open, a wire can be inserted by the operator. Once closed, the body 370 defines with the two jaws 371 two cylindrical orifices within which the wire extends. The clamp is here configured so that the cylindrical orifices are of sufficiently small diameters for the wire to rub against the walls of the cylindrical orifices while being large enough for the wire to rotate about its own axis (substantially merged here with a axis passing through the centers of the two cylindrical orifices) and can slide along said own axis. Preferably, the second element 302 consists of a plurality of bodies whose relative positions relative to each other are adjustable outside the startup of the robot.
[0035] The second member 302 thus has a first body 381 which is pivotally mounted on the first member 301 about the second axis H2. The second element 302 further comprises a second body 382 which is mounted on the first body 381 so as to be able to move in translation along a sixth axis H6 relative to the first body 381. This translation is passive and serves to adapt the configuration of the comanipulation robot to the type of hose and the type of wire on which the operator must work. The relative positioning of the first body 381 with respect to the second body 382 is carried out by the operator by means of a crank 372 arranged on the second body 382. The displacement of the second body 382 relative to the first body 381 along the sixth axis H6 is for example measured by a sensor.
[0036] Once the configuration of the desired robot is reached (position corresponding to the hose P and to the threads on which is worked and which is defined for example by an abacus) the first body 381 and the second body 382 are secured for example here using quote.
[0037] The second member 302 includes a third body 3022482 44 383 which is pivotally mounted on the second body 382 around a seventh axis H7 relative to the second body 382. Again, this rotation is passive and the relative placement of the second body 382 and the third body 383 is made by hand before the robot is put into service, the third body 383 and the second body 382 then being secured to one another. The second member 302 further includes a fourth body 384 which is mounted to the third body 383 so as to be translatable relative to the third body 383 along an eighth axis H8, the eighth axis H8 being merged here with the seventh axis H7. Here again, this movement is passive and the relative positioning of the fourth body 384 and the third body 383 is done by hand 15 before the robot is put into service, the third body 383 and the fourth body 384 being then secured to each other. the other. Preferably, the third element 303 also consists of a plurality of bodies whose relative positions relative to each other are adjustable outside the robot startup (as more visible in Figure 15). The third member 303 includes a first body 391 which is pivotable to the fourth body 384 of the second member 302 about the third axis H3. The third member 303 further includes a second body 392 which is mounted on the first body 391 of the third member 303 so as to be translationally movable along a ninth axis H9 relative to the first body 391 of the third member 303. Again, this translation is passive and the relative positioning of the first body 391 and the second body 392 is made by hand before the robot is put into service, the first body 391 and the second body 392 being then secured to each other. 'other.
[0038] The control means comprise motors 350 for motorizing the movements of the first member 301 relative to the base 306, the second member 302 relative to the first member 301 and the third member 303 relative to the second member 302.
[0039] In contrast, no motor is associated with the fourth member 304 and the distal end member 307 for respectively motorizing the movement of the fourth member 304 relative to the third member 303 and the movement of the distal end member 307. relative to the fourth element 304. The links between the fourth element 304 and the third element 303 and between the fourth element 304 and the distal end element 307 are therefore not controlled by the controller 313. The main element chain comprises here mechanical return means comprising here springs 385, respectively associated with each of the two aforementioned joints, and which are introduced to maintain the distal end element 307 and the fourth element 304 in neutral positions in the absence of external solicitations.
[0040] The displacement measuring means here comprise position sensors (not shown here) associated with each of the aforementioned 350 motors. The force measuring means further comprise the force measuring member 315 for measuring the forces exerted on the steering wheel by the operator, the steering wheel 309 being connected to the second element 302 via said measuring member. effort. Here the base 306, the first element 301 and the first body 381 of the second element 302 form part of the main chain of elements called "upstream part" because located upstream of the steering wheel 309 while the second body 382, the third body 383 and the fourth body 384 of the second element 302, the third element 303, the fourth element 304 and the distal end element 307 form part of the main chain of elements called "downstream part" because located downstream of the flywheel 309. As can be seen more clearly in FIG. 14, the force measuring member 315 here comprises a first portion 315a mounted on the body 381 of the second element 302 so as to be able to move in translation along the first axis H1 relative to the second element 302 and a second portion 315b pivotally mounted on the first portion 315a about the first axis H1. The translational movements of very small amplitude between the first body 381 of the second element 302 and the first portion 315a are provided by means of linear ball pads 315c (only one of which is visible in FIG. 14) and the rotational movements of Very small amplitude between the first portion 315a and the second portion 315b are provided by thin 315d ball bearings 315d. The steering wheel 309 is secured to the second portion 315b. The force measuring member 315 further comprises a first single-axis 315e force sensor inserted between the first body 381 of the second element 302 and the first portion 315a, and a second single-axis 315f force sensor. inserted between the first portion 315a and the second portion 315b. The first sensor 315e is fixed to the first body 381 of the second element 302 by virtue of a first attachment piece 315g secured to the first body 381 of the second element 302 and to the first portion 315a by virtue of a second fastening piece 315h secured to the first portion 315a. The second sensor 315f is fixed to the first portion 315a by means of a third attachment piece 315i secured to the first portion 315a and the second portion 315b through a fourth fastener 315j integral with the second portion 315b. These two single-axis stress sensors make it possible to measure the forces applied to the flywheel 309 along and around the first axis H1 and the second axis H2.
[0041] The force measuring member 315 is advantageously less expensive than a multiaxis force sensor. In particular, the control means do not include force measuring means arranged at the level of the tool 308 for measuring the forces exerted by the armor wires of the hose P on the tool 308. Indeed, the regulation of the force applied to the armor wires of the hose P is not as important as for the sanding tasks to be performed by the robot according to the first embodiment or drilling to be carried out by the robot according to the second embodiment of the invention. Preferably, the controller 313 is configured so that the movements of the flywheel 309 along the first axis H1 and around the second axis H2 cause a more complex combined movement of the tool 308 defined around the generating line G, obtained by combination of the movements of the first member 301, the second member 302, the third member 303, the fourth member 304 and the distal end member 307 along or about the axes H1 to H5, the movement of the tool 308 being much more complex than those of the steering wheel 309 (as more visible in FIG. 16), - as a function of the forces applied to the steering wheel 309 by the operator, the controller 313 amplifies the forces exerted by the tool 308 on the control wires 308. The armature of the hose P. The movements of the tool 308 around the axes H1 to H3 are coupled to the movements of the flywheel 309 along the first axis H1 and around the second axis H2. The movements of the tool 308 around the axes H4 and H5 are in turn passively controlled by the environment of the robot, namely here by the armor wires, and by the springs 385. In the absence of wire in the tool 308, the position of the fourth element 304 and the seventh element 307 and the tool 308 is imposed by the springs 385. The stiffness of the spring 385 is advantageously chosen such that the force of recall of these springs 385 is negligible in front of the reaction force of the son on the tool 308 but sufficient to counter the gravity efforts at the joints between these elements and the tool 308.
[0042] The operation of the robot according to the fourth embodiment of the invention will now be described with reference to FIG. 16. At the instant TO, the base 306 is installed and fixed, the different bodies of the second element 302 are 10 attached to each other and the different bodies of the third element 303 are attached to each other. The operator then begins by inserting a wire into the clamp that closes. Then the operator turns and advances the steering wheel 309.
[0043] As and when, thanks to the coupling by the controller 313 between the flywheel 309 and the tool 308, the tool 308 follows a path that folds the wire (a little at the instant Tl, a little more time T2, advantageously at time T3) so that at time T4 the wire is completely bent. The operator then opens the clamp and performs reverse gestures to those performed during the folding of the wire. The robot then returns to its initial position while the yarn which has been plastically deformed remains folded on the hose P. The operator then slightly rotates the flywheel 309 and resumes the folding operation with another hose wire. The use of a clamp as described above is advantageous because said clamp makes it possible to modify the relative position between the clamp and the wire during the task. Thus, the wire is inserted into the clip at the end of the wire, but the clip will naturally approach the other end of the wire so as to participate in the bending of the wire at the interface between the wire. wire and the hose P so that there is a plastic deformation of the wire at this interface, plastic deformation that will allow the wire remains folded on the hose P even when said wire 5 is no longer gripped by the clamp. It happens that the son do not plastically deform over their entire length between the interface and their end inserted in the tool 308. The deformation of the son being elastic over a portion of this length, the son oppose then a non-negligible elastic force at the end of folding. In this case, before releasing the wires of the clamp, it is preferable to hold the wires in the folded position on the hose P, for example by a crown provided with hooks or by winding an adhesive tape around each wire. The co-manipulation robot of the fourth embodiment of the invention can assist the operator in his task of folding the various son around the hose P.
[0044] Traditionally, this task was done manually by the operator. The operator had to grasp the end of the wire and bring it back along the flexible hose P. This required the operator to make large gestures and apply great effort, which was tiring and constituted gestures recognized as poor ergonomics and eventually cause musculoskeletal disorders. The co-manipulation robot according to the fourth embodiment facilitates the aforementioned task for the operator who remains the only one to control the tool, the tool is not moved until the operator moves. the handle. Thanks to the couplings between the movements of the flywheel 309 and the tool 308, for each of the son of the hose P, the operator performs simple movements and low translational and rotational amplitudes while the tool 308 executes a movement. complex, substantially helical trajectory of greater amplitude around the hose. In addition, still thanks to these couplings, for each of the 5 son of the hose P, the forces applied by the tool 308 on the wire can advantageously be much higher than those applied to the steering wheel 309 by the operator. The forces applied to the steering wheel 309 by the operator are then much lower than the effort required to bend the wires. In addition the operator is away from the clamp when the wires are bent by the robot. If said wires were released from the tool during the folding step, the operator could not be injured by them during the abrupt springback of said wires. The operator is therefore safer than when the task was done manually. Of course, the fourth embodiment described is not limiting and variations can be made without departing from the scope of the invention as defined by the claims. Thus, the main chain of elements may comprise two identical downstream parts each carrying a tool so that the two tools are arranged at 180 degrees from each other. In this way, it will be possible to simultaneously fold two son of the hose P, said son being arranged symmetrically around the hose P. This principle can be generalized to three or four son or more.
[0045] The robot may also include additional mobilities. In particular, the robot may be configured so that the second body 382 is pivotally mounted on the first body 381 of the second element so that the bodies 382, 383 and 384 of the second element 302 35 are rotatable relative to the first body 3022482 51 381 of the second element 302 around a parallel axis of rotation and advantageously coincides with the first axis H1. This additional degree of freedom can be motorized and used to amplify the rotational movement of the downstream portion of the main chain of robot elements around the first axis H1. This degree of freedom will be particularly interesting for folding wires having a large helix angle. Indeed, these son can be wound on several turns and the addition of said degree of freedom will allow the operator to turn the steering wheel 309 only a fraction of a turn regardless of the number of turns that the wire should do around the hose P by amplification adapted to this rotation using the control means.
[0046] In addition, the links between the different bodies of the second element 302 and the third element 303 may not be passive but be motorized so that they can be managed by the controller 313. This will allow a more complex coupling between the flywheel 309 and the Tool 20 308 The amplification of the movement of the tool relative to the hose P relative to the advancement of the flywheel 309 along the first axis H1 will not necessarily be constant. It can thus be non-linear so that the gripper 25 advances steadily as the steering wheel 309 is pushed by the operator. Note that it may also be interesting to be able to freely rotate the robot around the generating line G at certain times, particularly at the beginning of the task 30 to align the tool with the wire that one seeks to bend and to the end of the task to adjust the radial position of the end of the folded wire for example so that it does not rub on the adjacent wires already folded or to engage the wire in a holding member on the flexible P as 35 in a hook of a retaining ring as evoked 3022482 52 above. This can be achieved by blocking the movement of the first member 301 along the first axis H1 with the aid of the first motor 350 (associated with the connection between the first member 301 and the base 306), the flywheel 309 being then no longer be moved in rotation around the second axis H2. This rotation can be assisted by the second motor 350 (associated with the connection between the first element 301 and the second element 302) to limit the efforts of the operator on the steering wheel 309. The steering wheel 10 will then be advantageously provided with control buttons to switch from one mode of assistance to another. Of course, any other type of tool than that illustrated may be used, for example a conventional clamp coming to immobilize the wire or a dextral gripper. FIG. 17 thus illustrates a variant of the tool illustrated in FIGS. 13 to 16. In this variant, the tool 308 comprises only a single jaw 387 which, when closed, forms with the body 386 of the tool 308 a single cylindrical guide. Such a tool 308 requires only one solenoid to control its opening, which simplifies its design. With reference to Figs. 18 and 19, an exemplary controller that may be associated with any embodiment or variant described above will now be described. In a general manner, the controller of the invention has the role of regulating the control of the driving members according to a predefined strategy and as a function of the signals transmitted by the means for measuring forces and / or displacements and possibly of an external measurement system. Preferably, the controller of the invention has the role of setting up couplings between the various driving members to allow the coordination of the different axes of the main and secondary chains of elements in order to ensure the correct execution of the task. to accomplish everything 3022482 53 by simplifying the operator's gestures and possibly providing a return of effort. The controller may also be used to implement operator gesture guidance and effort assistance functions. If we place ourselves in the case of the robot according to the fourth embodiment illustrated in FIGS. 13 to 16, the role of the controller 313 is to coordinate the movements of the various elements of the main chain of elements 10 along the first axis H 1, the second axis H2 and the third axis H3, which are the three motorized axes of the robot, depending on the movements of the robot and the forces applied to the steering wheel 309 by the operator in order to bend the wires correctly, to provide the necessary efforts to the folding of These son by amplifying the efforts of the operator and guide the movements of the operator on the portion of the trajectory that imposes the plastic deformation of the wire to ensure the quality and repeatability of the folding gesture.
[0047] In particular, with reference to FIG. 18, the controller 313 may execute the following control program which allows amplification of the forces applied to the steering wheel 309 by the operator. The robot according to the fourth embodiment is in contact with its environment via two interaction ports, the first at the steering wheel 309 with the operator and the second at the tool 308 with the wire. Thus, any movement Vh of the flywheel generates in return an operator reaction force Fh, the behavior of said operator being assimilated to its mechanical impedance Zh, the operator also being able to voluntarily apply an additional force to the steering wheel 309. From the In the same way, any displacement Ve of the tool 308 generates a reinforcement force Fe of reaction of the armor wire on the tool 308, 35 reaction force which is a function of the mechanical impedance Ze of said wire. This impedance, like that of the operator Zh, is a priori passive. The effort Fh applied by the operator on the flywheel 309 is projected onto each actuated mechanical link of the main chain 5 of elements in the form of a vector of couples Th. For this, it suffices to multiply the torsor Fh by JhT, the jacobian matrix transposed from the robot, both expressed at the steering wheel 309. Similarly, the force Fe applied by the armoring wire of the hose P to the tool 308 is projected onto each actuated mechanical link the main chain of elements in the form of a vector of pairs Te. For this we use JeT, the jacobian matrix transposed from the robot expressed at the level of the tool 308. The joints of the co-manipulation robot are subjected to these forces but also to the torque vector Tmet of the various motors 350, to the friction T - f rot and gravity T-gray couples generated at the different mechanical links of the main chain of elements. These efforts, couples, friction and gravity couples add up 20 and condition the evolution of the configuration of the robot. The assistance in effort is obtained thanks to an effort increase loop implemented in the controller 313. Said loop is here advantageously configured so as to dispense with a direct measurement of the effort at the level of the 308. Said loop comprises here - an estimator 400 of the articulated torques of the effort Fh applied by the operator to the flywheel 309, also called the operator effort, an estimator 401 of the joint torques of the force Fe applied by the wire armoring the flexible P on the tool 308, also called effector effector, - a force increase corrector 402, and - an internal speed loop 403.
[0048] The estimator 400 of the articular torques of the operator effort has as its input the operator effort Fil (or at least its measured useful components) that it multiplies by the matrix JhT to obtain Th. It applies to the obtained result a filter low-pass to obtain h, the estimate of Th. The estimator 401 of the articular torques of the effector effort calculates first, from the measurements of positions q (i.e. the measured positions q of the different elements of the main chain of elements), 10 thanks to a model of gravity, the estimated gravity of gravity pairs. Then the estimator 401 adds fgrav and Th to the torque vector of the Trnot motors before applying a low-pass filter to the result of the addition, a low-pass filter which will be advantageously chosen to be identical to that used in the estimator. 400. Finally the estimator 401 reverses the sign to obtain 'G, the estimate of Te. Within the effort increase corrector 402, you are divided by the desired effort increase gain gf before being added to fh and Tmv which is the articular torque of a virtual coupling mechanism of which will describe the operation further. The result of this addition constitutes the input of an integral proportional controller PI which then generates reference speeds qmf of the different elements of the main chain of elements.
[0049] An internal rate loop 403, of proportional type, is also implemented in the controller 313. Said speed loop 403 inputs the actual speeds q of the various elements of the main chain of elements, calculated for example from the signals generated by the position sensors, and the reference speeds gref. The actual speeds q are subtracted from the reference speeds qmf and the result is then multiplied by a proportional gain Kv to provide, after subtraction of fgrav, the aforementioned torque Trot.
[0050] The torque Trnot setpoint torque are added to the Tfrot friction couples and Tgrav gravity pairs, then to the pairs Th and te described above, which allows to deduce the total torques that apply to the robot and condition his evolution. In particular, in the state of equilibrium of the control program described, the following relation is respected: the sum of the Tipot motor torques, the friction torques Tfrot of gravity pairs "[gray and the pairs Th and Te is equal to zero or: Trnot Tfrot Tgrav Te Th Also at equilibrium, the input of the integral proportional corrector PI of the effort loop 402 is zero either: fex gfl + th + tmv = 0 (2) Assuming that at equilibrium the estimates are ideal: = -Tmot Tgrav Th (3) fh = Th (4) 20 By combining the four relations mentioned above, at equilibrium, the following global relation is respected: (ch + trnv) X gf Tfrot + Te = - The global relation means that at equilibrium and in the absence of coupling with a virtual mechanism (Tr, = 0), the force applied by the armor wire on the robot at the level of the tool 308 is, at a sign close, the one applied by the operator on the wheel 309 amplified by a gain gf to which are added the s friction of different mechanical connections.
[0051] The speed loop 403 which receives the setpoint of the effort loop 402 is advantageously implemented at the lowest level of the control program described with a minimum cycle time and a maximum gain, which optimizes the behavior of the driver. robot and thus improve its stability. This speed loop can be advantageously implemented by commercial dimmers since such dimmers generally offer this functionality. Note that if a gain gf greater than or equal to 1 is chosen, it is possible to set the integral proportional controller PI so that the robot meets the unconditional stability criterion in coupled mode regardless of the choice of gain gf. Said robot and enslaved meets this criterion especially if the steering wheel 309 has a passive behavior (that is to say, it does not restore the operator more energy than it receives) regardless the passive object with which the tool 308 interacts and vice versa. However, even when this criterion is respected, the stability of the robot is guaranteed only as long as there is no direct interaction of the operator simultaneously on the flywheel 309 and the rest of the robot ( especially on tool 308). Therefore, during the manual insertion phase of the wire in the clamp, it may be necessary to ensure the safety of the operator that the control program is inhibited. This can be controlled for example by means of a control button disposed on the flywheel 309 or on the main component chain of the robot or via an automatic control based on the information provided by an external measurement system such as the external measurement system illustrated. In FIG. 6, in particular, with reference to FIG. 19, the controller can execute the following control program which makes it possible for the robot to follow a complex trajectory defined by a virtual guide in the space from a simpler movement of the operator at the steering wheel 309. The operating principle of this control program is as follows. If we denote by p the number of degrees of freedom of a simulated virtual mechanism 404 which is implemented in the controller 313 and which makes it possible to simulate the movements which it is desired to forward to the main chain of elements and n the number of real motorized degrees of freedom of the robot (three in the case of the fourth embodiment), the coordination between the mechanical links of the tool 308 and those of the steering wheel 309 is described by the following mathematical application : f: II -> Rn which associates with the RP position of the virtual mechanism, expressed in its own articular space, the reference position ci, e Rn of the main chain of elements, expressed in the articular space of the robot . In particular, it is possible to define certain degrees of freedom of the virtual articular mechanism by trajectories: f (s) = ri_ifi (si) with fi R ll the trajectories f, may for example be defined by interpolation polynomials or splines. In this case the interpolation points are for example determined during a manipulation of the robot in a configuration mode that allows to freely move its controlled joints. This mode of configuration may for example be implemented by a gravity compensation control well known in the prior art and which will not be detailed here. For the robot according to the fourth embodiment, it is possible, for example, to define f as follows: f (s) + [0; s2; 0] the path fi being the nominal trajectory generated by a monotonic spline function passing through four points determined during a manipulation of the robot: the first point in the setting position of a weave wire, the second point in a position intermediate to disengage said yarn from the other armor yarns, the third point in the passage position of said yarn above the bending point 3022482 of said yarn and the fourth point at the end position of folding of said yarn in contact with the yarn; Thus, the degree of freedom sl represents the advancement of the tool 308 along the nominal trajectory and the degree of freedom s2 allows the displacement of this trajectory according to a rotation around the generator line G of the flexible hose. P aligned here with the second axis H2. To follow the trajectory defined by the simulated virtual mechanism 404, the actual articular positions q 10 of the various elements of the main chain of elements as well as the real articular velocities q are enslaved on the articular positions of setpoint and the articular speeds of setpoint g and that the articular velocities of setpoint q, being obtained by multiplying the speeds s of the virtual mechanism expressed in its own articular space by the Jacobian matrix Jf E IIP x Rn of the application f for the current position of the virtual mechanism s . This servocontrol is carried out here using a proportional derivative type PD corrector, comparable to a fictitious spring / damper type system of stiffness K and viscosity B (K and B being diagonal matrices comparable to stiffness and viscosity). joints of said fictitious system). For this purpose, a coupling 405, implemented in the controller 313, uses in input: the articular positions of setpoint q ', the articular velocities setpoint q' the actual articular positions q and the actual articular velocities q. The coupling 405 provides, in particular at the output, the vector of the coupling couples of the virtual mechanism 30 Trav which must be applied at the input of the increase-effort loop 402 described previously (or which should be applied directly to the Tmot motor torque vector of the various motors 350, by adding the T-frot friction couples and gravity torques T -gray r 35 if the force increase function is not required 3022482) to follow the movements imposed by the virtual mechanism, the advancement along this mechanism being controlled by the actions of the operator on the steering wheel 309. The movements of the robot are governed by these motor couples 5 and by Ph and Fe. More specifically, within of the coupling 405, the computation of the coupling pairs of couplings with the virtual mechanism Tmv is obtained by the following calculation: K x (qv-q) + B x (q, -q) (equation 1) 10 It is noted that in order to make evolve the virtual mechanism in m As well as the robot, the causal part of the coupling effort tmv_caus is also calculated within the coupling 405 using the following equation: Tmv_caus al = K x (qv-q) -Bx q (equation 2 The simulated virtual mechanism 404 has zero inertia and is subjected to a viscoelastic return force to reference coordinates Sref. The equilibrium of the forces exerted is then written: = JfT x Tmv Kf X (- Sten Bf x (S Smf) (equation 3) JfT x Tmv corresponds to the coupling force of the virtual mechanism projected on its own articular space; Kf and Bf are the diagonal matrices comparable to the stiffness and return viscosity of the virtual mechanism towards its reference position Sref Sref represents the time derivative of Sref More precisely, within the coupling 405, the calculation of the evolution of the The state of the virtual mechanism, i.e. its position s, is obtained by isolating its derivative s in the terms of equation 1 and equation 3. For this reason equation 1 can be written under the form tmv = tmv causal + B x Jf xs (equation 4) By substituting this expression of Tmv in equation 3, it comes: 35 0 = JfT x (Tmvcaus + B x jf x Kf x Sref) B x ( 3022482 61 Srel.) Which allows isolating s to obtain the differential equation that governs the evolution of the virtual mechanism el s = (Bf + JfT x B x Jf) 1 x (Kf x (sref - s) + Bf x Sret 5 JfT tmvcaus) (equation 5) (Bf + JfT x B x Jf) always being invertible because B is defined positive, positive semi-definite Bf and full rank Jf. The evolution equation of the virtual mechanism is an ordinary differential equation. All the terms of the right-hand member can be expressed according to the inputs of the controller 313 and the position s. By integrating equation 5 in real time, the actual articular position of the virtual mechanism 404 is determined at each instant. The integration of equation 5 can be implemented by any digital integrator such as the explicit Euler method. In practice, it is possible to choose the values of the diagonal matrices K and B such that the robot 20 is passive independently of the virtual mechanism 404. This adjustment is done for example so as to maximize the coupling stiffness K of the virtual mechanism. which ensures maximum precision. The control law described above makes it possible to produce the virtual guide in the articular space of the robot rather than in the Cartesian space. This has the advantage, particularly in the case of the robot according to the fourth embodiment of the invention where the desired trajectory of each armor wire must be repeated all around the hose P, to allow a simplified description of the couplings / desired guidance. Guiding in the articular space also advantageously makes it possible to overcome the problems encountered with guidance in the Cartesian space when the robot 35 passes singular configurations or has redundancies according to certain degrees of freedom. Naturally, the invention is not limited to the embodiments described and alternative embodiments can be made without departing from the scope of the invention as defined by the claims. It is understood that the robots illustrated here are given only as examples and any other robot as defined below is within the scope of the invention: co-manipulation robot comprising: a first chain of elements which includes a proximal end member forming a robot base and a distal end member, the various members being movably mounted relative to each other so that the distal end member is relatively movable relative to each other; at the proximal end element, - at least one robot control member, said member being connected to one of the elements of the first chain of elements, other than the distal end element, and being arranged in order to be directly movable by an operator relative to the proximal end member; - means for controlling at least a portion of the first chain of elements and the steering member, the first chain of elements, the control member and the control means being configured so that at least one movement of the control member relative to the proximal end member according to at least one degree of freedom of the driver is associated with a more complex movement of the distal end member relative to the proximal end member in at least one of the 30 degrees of freedom of the distal end member. In particular, the steering member may take any form suitable for gripping and ergonomic manipulation. It may for example and without limitation include a handle, a pen, a joystick for example joystick type, a pliers or a ball. The steering member may be shaped to be grasped with one or both hands. It can also be hollow so that the operator can insert one or more fingers or the palm of the hand or the arm.
[0052] As has been indicated, it will be possible to link the steering member to any element of the main chain of elements other than the distal end element, either directly (the steering member is then connected to a element of the main chain of elements so as to have the same degrees of freedom as said element) is via a secondary chain of elements. Furthermore, the control member may be connected to an element of the main chain of elements or to an element of the secondary chain of elements either by making the piloting member integral with the element in question, or by via means for measuring forces such as a force sensor or a force measuring device. The only limitations are: that the control member is movable relatively to the base in a number of degrees of freedom sufficient to perform the elementary movements necessary for the execution of the task; that the control member is not bonded to the distal end member so that the operator is sufficiently far away from the tool. Preferably, the choice of the element from which the secondary chain of elements or to which the control member is linked will take into consideration three distinct criteria: the mechanical simplicity of the robot: the secondary chain of elements will be connected; the steering member will be connected to the element of the main chain of elements as far as possible from the base so as to share the maximum possible degrees of freedom between the steering member and the tool. Preferably, the control member (or possibly via force measuring means) will be directly connected to the element of the main chain of elements having the number of degrees of freedom required for the transmission. task to perform. In this case, there is indeed no need for a secondary chain of elements. the ergonomics of manipulation of the control member: it is indeed necessary to prevent the control member from being manipulated by movements of large amplitudes. - Removing the operator of the tool: it is also necessary to prevent the control member is too close to the tool and therefore the distal end element. In the same way, the tool could be of any type adapted to the task at hand. It will be possible to link the tool to the distal end element either directly (the tool is then fixed and secured to said element) or via force measuring means such as a force sensor or 20 a force measuring member (the tool is then connected to said element so as to have the same degrees of freedom as said element). Although here the tool is always in contact with the object to carry out the task to be accomplished, it may be a tool that does not come permanently or never come into contact with the object to perform the task at hand and therefore a tool not exerting effort on said object, or not permanently. Thus, the tool may for example include a control device for verifying that welds have been correctly made on the object, the object being for example the hull of a boat. The tool is thus moved at a constant distance from the surface of the shell in a controlled orientation relative thereto but never comes into contact with the shell. In this case, the couplings will regulate in particular the distance from the control device to the hull and the orientation of the control device relative to the hull while the movements of the control member will make it possible to move the tool to the surface of the hull. the hull, which will simplify the task of the operator. The tool may include a gripper, such as a motorized clamp with two jaws, which can act directly on the environment or carry an instrument as a drill. The tool may be a passive and non-motorized tool. The robot may not include a tool but only a clamp, a robotic hand or any other gripper that will be connected to the distal end element is directly (the gripper is then fixed and secured to said element) or via means 15 for measuring forces such as a force sensor or a force measuring member (the gripper is then connected to said element so as to have the same degrees of freedom as said element). The robot may have no tools or grippers and interact directly with its environment with the distal end element of the robot. Furthermore, the couplings between the control member and the tool can be implemented using any type of suitable solutions which are not limited to the examples described, provided that each movement of the element 25 distal end relative to the proximal end element either: either passively coupled (for example using cables) or actively (using the control means) to a movement of the organ 30 relative to the distal end member and / or forces applied to the control member by the operator, either actively controlled (using the control means) or passively ( for example using springs or by the environment of the robot itself as in the fourth embodiment of the invention) to adapt to the environment of the robot. In this way, the use of the robot remains intuitive for the operator. As has been seen, all the movements of the tool and the control member 5 can be coupled in a controlled manner, that is to say be coupled actively, thanks to the control means and in particular to the organs motors controlled by the controller. Alternatively, only a portion of the movements of the tool and the control member 10 can be coupled in a controlled manner. The robot will then comprise, for example, passive mechanical coupling means chosen so that the movements of the tool are identical to those of the control member in the other directions, the movements of the tool being possibly amplified with respect to those the control member, or for example passive mechanical coupling means automatically controlling the movements of the tool in other directions such as springs.
[0053] It will also be noted that in the examples illustrated in FIGS. 1 to 17, the movements of the tool are of greater amplitude than those of the control member, but the movements of the tool could also be of smaller amplitude than those of the control member. the control organ without departing from the scope of the invention. This could for example be the case on a co-manipulation robot intended for surgery or to intervene in the micro-world or in the nano-world. These displacements could still be similar amplitudes.
[0054] In the same way, on the examples illustrated in FIGS. 18 and 19, the forces applied by the tool are of greater amplitude than those applied to the control member, but the forces exerted on the tool could also be lower amplitude than those exerted on the control member without departing from the scope of the invention. These efforts could still be of similar magnitudes. The drive members may include ironless rotor direct current electric motors or brushless motors, conventional DC motors, shape memory alloys, piezoelectric actuators, active polymers, pneumatic or hydraulic actuators. . The driving members may further include on one or more elements or body of the robot brakes. These brakes can thus be disc brakes, powder brakes or magneto or electro-rheological fluid brakes. The drive members may also comprise hybrid actuators comprising both a motor and a brake or antagonistic actuators and / or variable elastic actuators of the 'series elastic actuators' or 'parallel elastic actuators' type. When the drive members comprise gearboxes associated for example with motors, the gear units may be of any type and may be, for example, single or multi-stage single or epicyclic gearboxes, "Harmonic Drive" type gearboxes. deposited) or ball screw reducers or cable winches. Instead of reversible reducers, it will be possible to have non-reversible reducers such as worm gear reducers. The displacement measuring means may comprise optical encoder sensors, potentiometers or any type suitable as Hall effect sensors, magneto-optical encoders, sensors which may be absolute (mufti-turns) or relative. They may still consist of speed or acceleration sensors which are deduced displacements by simple or double integration. The displacement measuring means may be arranged on the driving members 3022482 68 or at the level of the different mechanical connections between the elements and / or the robot body. It will also be possible to have on one or more axes measuring means on both the driving members and on the mechanical links.
[0055] The force measuring means may comprise multiaxis sensors whose strain of the test body will be measured by strain gauges, optical or electromagnetic devices, pressure sensors, localized or matrix, torque sensors 10 or of single-axis force arranged on the drive members and / or the mechanical links of the robot or means for measuring motor currents of the drive members. In the case of the use of motors and / or gearboxes with low efficiency and / or having significant or little or no reversible friction, the measuring means may comprise force sensors whose signals will be used to compensate for these. defects and make the robot reversible. The passive mechanical coupling means may also comprise, for example, a remote center-of-rotation mechanism such as for example and non-exhaustively a double parallelogram. The robot may include control buttons arranged elsewhere than at the steering member. The control buttons can thus be arranged on the base of the robot, on a separate housing of the secondary or main chain of elements or any other suitable place. Any other means of interaction with the robot may also be used in addition to or instead of the control buttons, such as for example and without limitation a keyboard, a mouse, a touch screen or a voice control device. The robot can also be equipped with a "dead man" type device. The robot may not have an external measurement system or a measurement system other than that illustrated in FIG. 1, for example: a motion capture system (better known as motion capture) with or without targets such as the device ART Track (registered trademark), electromagnetic or ultrasonic sensors such as Polhemus sensors, laser trackers of Leica (trademark) type "Eye Tracker", that is to say based on operator eye movements, flight time cameras such as Kinect (trademark) or Leap Motion 10 (trademark). The external measurement system may also comprise a camera operating in any band of the light spectrum, in particular in the visible light or infrared range, the images of the system being then processed to extract information from it. position and orientation of the tool and state of the robot's environment. The external measurement system may further include a lighting device associated with the camera to enhance the contrast of the images. The external measurement system may comprise a plurality of cameras arranged around the robot, to have a 3D measurement, a better resolution or to avoid blind spots and visual occlusions. The external measurement system could further include lighting means for illuminating the robot and its environment with a structured light to facilitate measurements. The measuring means may also be associated with a virtual model of the environment and / or the robot and / or the operator, which model serves as a support for generating the coupling tool / control member. The various kinematic links have of course been illustrated in a simplified way. They could thus be produced using ball bearings, smooth bearings, magnetic bearings or any other solution known from the prior art. It could also be advantageous to make clevis connections, that is to say with a recovery of forces on each side of the kinematic connection considered. Likewise, the various elements and bodies of the robot have been illustrated in a simplified manner. Thus, these different elements and bodies may not be monoblock but consist of several blocks joined together. The controller and the control laws that are implanted therein may be different from what has been described. For example, although here the virtual guide is realized in an articular space, the virtual guide can be realized in a Cartesian space.

权利要求:
Claims (22)
[0001]
REVENDICATIONS1. A co-manipulation robot comprising: - a first chain of elements which comprises a proximal end element (6; 106; 206; 306) forming a base of the robot and a distal end element, the various elements being movably mounted relative to each other so that the distal end member is displaceable relative to the proximal end member, - at least one robot driving member (9; 109; 209; 309), said member being linked to one of the elements -oie the first chain of elements, other than the distal end element, and being arranged to be able to be moved directly by an operator relative to the proximal end element, - means control (13, 14, 15, 16; 113, 116, 150, 150a, 151a, 151b, 151, 152, 153, 154, 155, 213, 215, 313, 350, 315) of at least a portion of the first chain of elements and the steering organ, the first chain of elements, the organ of steering and the control means being configured so that at least one movement of the control member relative to the proximal end member according to at least one degree of freedom of the control member is associated with a movement more complex of the distal end member relative to the proximal end member according to at least one of the degrees of freedom of the distal end member.
[0002]
2. The robot of claim 1, wherein the first chain of elements, the control member and the control means are configured to impose at least one movement of the control member relative to the proximal end member. and / or to impose efforts on the control organ.
[0003]
3. A robot according to claim 1 or claim 2, wherein the first chain of elements, the control member and the control means are configured such that forces applied to the distal end member. are coupled to a movement of the driver relative to the proximal end member and / or forces applied to the driver by the operator.
[0004]
The robot according to one of the preceding claims, wherein the first chain of elements, the control member and the control means are further configured so that each movement of the distal end member relative to the proximal end member is coupled to a movement of the driver relative to the proximal end member and / or forces applied to the driver by the operator, at least one of movements of the distal end member relative to the proximal end member being necessarily coupled with movement of the driver relative to the proximal end member.
[0005]
5. Robot according to one of claims 1 to 4, wherein the control means comprise driving members (150, 153) arranged on the first chain of elements so that all the relative movements between the different elements of said chain of elements are motorized. 25
[0006]
6. Robot according to one of claims 1 to 4, wherein the control means comprise motor members (350) and wherein the robot comprises passive mechanical coupling means (385), the driving members and the coupling means. passive mechanics being arranged on the first chain of elements so that part of the relative movements between the different elements of said chain of elements are motorized and the others are driven passively.
[0007]
7. Robot according to one of claims 1 to 6, further comprising a second chain of elements which comprises at least a first body connected to one of the elements of the first chain of elements, the organ driving (9; 109; 209; 309) then being connected to said element through the second chain of elements. 5
[0008]
8. Robot according to claim 7; wherein the control means comprise driving members arranged on the second chain of elements so that all relative movements between the different bodies of said second chain of elements and between the first body and the element of the first chain. of elements to which the first body is bound are motorized.
[0009]
The robot according to one of claims 1 to 8, further comprising a tool (8, 46, 108, 208) and / or a gripper (45, 308) connected to the distal end member so as to have the same degrees of freedom as said distal end member.
[0010]
The robot according to one of claims 1 to 9, configured so that the number of degrees of freedom of the driver (9; 109; 209; 309) relative to the proximal end member is strictly less than the number of degrees of freedom of the distal end member relative to the proximal end member.
[0011]
A rotor according to one of claims 1 to 10, wherein at least the first chain of elements and the control member are configured so that the movements of the control member (9; 109; 209; 309) relative to the proximal end member are identical to movements of the distal end member relative to the proximal end member in certain directions, said movements not being controlled by the control means.
[0012]
The robot according to one of claims 1 to 11, wherein the control means is configured to control at least one of the movements of the distal end member relative to the proximal end member. according to the forces applied to the control member (9; 109; 209; 309) by the operator.
[0013]
13. The robot according to one of claims 1 to 12, wherein the control means comprises means for measuring the forces exerted on the distal end element, the tool or the gripper.
[0014]
14. Robot according to one of claims 1 to 13, wherein the control means comprise means for measuring the forces (15; 215; 315) exerted on the control member by the operator.
[0015]
15. Robot according to claim 13 or claim 14, wherein the measuring means comprise a multiaxis force sensor (14, 15, 215).
[0016]
16. Robot according to one of claims 1 to 15, wherein the control means comprise a controller (13; 113; 213; 313) for programming couplings between the control member (9; 109; 209; 309) and the distal end member, the robot having activation means (117) of at least one of the couplings 20 implemented in the controller.
[0017]
17. Robot according to claim 16, wherein the activation means comprise at least one control button (117) arranged on the control member (9; 109; 209; 309). 25
[0018]
18. Robot according to one of claims 1 to 17, wherein the control means comprise a controller (13, 113, 213, 313) for programming couplings between the control member (9; 109; 209; 309). ) and the distal end member, the controller comprising a force-increasing corrector (402) for amplifying at the distal end of the tool or gripper forces applied by the operator on the control member, and this at least for certain degrees of freedom of the distal end, the tool or the gripper. 3022482 75
[0019]
19. Robot according to one of claims 1 to 18, wherein the control means comprise a controller (13, 113, 213, - 313) for programming couplings between the control member (9; 109; 209; 309) and the distal end element, the controller comprising a virtual mechanism (404) which makes it possible to guide the movements of the control member at least according to certain degrees of freedom of the control member.
[0020]
20.Robot according to one of claims 1 to 19, wherein the control means comprise an external measuring system (16; 116).
[0021]
21. Robot according to one of claims 1 to 20, wherein the control member (9; 109; 209; 309) is directly connected to one of the elements of the first chain of elements so as to be integral with said element.
[0022]
22. Robot according to one of claims 1 to 21, wherein the control member (9; 109; 209; 309) is connected to one of the elements of the first chain of elements via means measuring force so that the control member has only the same degrees of freedom as said element.

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同族专利:

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公开号 | 公开日

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US10279483B2|2019-05-07|

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EP3157714A1|2017-04-26|

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US20170157776A1|2017-06-08|

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WO2015197333A1|2015-12-30|

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FR3022482B1|2016-06-24|

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法律状态:
2015-06-19| PLFP| Fee payment|Year of fee payment: 2 |

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2015-12-25| PLSC| Search report ready|Effective date: 20151225 |

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2016-06-29| PLFP| Fee payment|Year of fee payment: 3 |

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2017-06-21| PLFP| Fee payment|Year of fee payment: 4 |

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2018-06-20| PLFP| Fee payment|Year of fee payment: 5 |

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2020-06-19| PLFP| Fee payment|Year of fee payment: 7 |

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2021-06-22| PLFP| Fee payment|Year of fee payment: 8 |

优先权:

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申请号 | 申请日 | 专利标题

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FR1455811A|FR3022482B1|2014-06-23|2014-06-23|CO-HANDLING ROBOT HAVING ROBOT CONTROL MEANS|FR1455811A| FR3022482B1|2014-06-23|2014-06-23|CO-HANDLING ROBOT HAVING ROBOT CONTROL MEANS|

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EP15730981.6A| EP3157714A1|2014-06-23|2015-06-03|Co-handling robot comprising robot control means|

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US15/321,264| US10279483B2|2014-06-23|2015-06-03|Co-handling robot comprising robot control means|

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PCT/EP2015/062407| WO2015197333A1|2014-06-23|2015-06-03|Co-handling robot comprising robot control means|