US5399951A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Robot for guiding movements and control method thereof
Assignee: Joseph Fourier University
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Filing: 1993-05-11
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Granted: 1995-03-21
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Expires: 2013-05-11
Abstract
Abstract A robot for guiding movements has its power provided by an operator who handles a tool integral with the robot. Like a conventional robot, the guiding robot has several axes respectively associated with rotation sensors that are connected to a computer system memorizing a path to be followed. When the operator moves the tool beyond the stored path, blocking devices, controlled by the computer system and replacing the robot's motors, prevent the tool from continuing to depart from the path. Thus, at any time, the operator can move the tool within the stored path only. The blocking devices are passive, that is, they are such that they can only resist to a movement but cannot generate a movement, which prevents the occurrence of any uncontrolled movement.
Inventors
- 👤 Stephane Lavallee
- 👤 Jocelyne Troccaz
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 15:50
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/42; G05B19/423; G05B2219/00; G05B2219/30; G05B2219/49; G05B2219/49137; G05B2219/49141
Claims Analysis
Total Claims: 12
Claim 1
Independent Claim
176 words
A manually powered robot comprising: movement sensors associated respectively to degrees of freedom of the robot, each degree of freedom having first and second directions; a tool fixed to an arm of the robot, said tool being exclusively moved by an operator; a computer for storing a path, calculating the position of said tool from the information given by the sensors, and providing for each degree of movement a control signal having four possible values as a function of the position of the tool relative to said path; a movement control device associated to each degree of freedom for: allowing total freedom of movement about the degree of freedom if the associated control signal has a first value; allowing movement in only the first direction of the degree of freedom if the associated control signal has a second value; allowing movement in only the second direction of the degree of freedom if the control signal has a third value; and allowing no movement along the degree of freedom if the control signal has a fourth value.
Claim 2
Dependent Claim
176 words
A manually powered robot comprising: movement sensors associated respectively to degrees of freedom of the robot, each degree of freedom having first and second directions; a tool fixed to an arm of the robot, said tool being exclusively moved by an operator; a computer for storing a path, calculating the position of said tool from the information given by the sensors, and providing for each degree of movement a control signal having four possible values as a function of the position of the tool relative to said path; a movement control device associated to each degree of freedom for: allowing total freedom of movement about the degree of freedom if the associated control signal has a first value; allowing movement in only the first direction of the degree of freedom if the associated control signal has a second value; allowing movement in only the second direction of the degree of freedom if the control signal has a third value; and allowing no movement along the degree of freedom if the control signal has a fourth value.
Claim 3
Dependent Claim
41 words
The robot of claim 1, wherein each movement control device allows movements about the associated degree of freedom only in a direction suitable to allow the tool to penetrate into an authorized area, if said tool moves beyond the area boundary.
Claim 4
Dependent Claim
32 words
The robot of claim 1, wherein each movement control device allows movements about the associated degree of freedom only in a direction suitable to allow the tool to approach said stored path.
Claim 5
Dependent Claim
45 words
The robot of claim 1, wherein each movement control device includes two free wheels having an opposite rotation direction and each free wheel including a means controlled by the computer system for coupling the free wheel to an axis constituting the associated degree of freedom.
Claim 6
Dependent Claim
16 words
The robot of claim 1, wherein each coupling means includes a clutch controlled by a solenoid.
Claim 7
Dependent Claim
20 words
The robot of claim 1, including, for each degree of freedom, a speed limiting means, controlled by the computer system.
Claim 8
Independent Claim
111 words
A method for controlling a robot with an arm having several degrees of freedom associated with respective movement sensors and having a tool fixed to said arm, comprising the following steps: storing a path to be followed by the tool in a computer system; moving the tool, wherein said movement is manually performed by an operator; calculating the current position of the tool and determining as a function of this position a preferential direction, corresponding to said path, to be followed by the tool; and authorizing a movement about each degree of freedom of the robot only in a direction allowing the operator to move the tool in the preferential direction.
Claim 9
Independent Claim
111 words
A method for controlling a robot with an arm having several degrees of freedom associated with respective movement sensors and having a tool fixed to said arm, comprising the following steps: storing a path to be followed by the tool in a computer system; moving the tool, wherein said movement is manually performed by an operator; calculating the current position of the tool and determining as a function of this position a preferential direction, corresponding to said path, to be followed by the tool; and authorizing a movement about each degree of freedom of the robot only in a direction allowing the operator to move the tool in the preferential direction.
Claim 10
Dependent Claim
61 words
The control method of claim 7, wherein the movement direction about each degree of freedom is determined by the sign of a component along said degree of freedom of a vector in a space whose coordinate system is constituted by the degrees of freedom, corresponding to a vector indicating said preferential direction in a position and orientation space of the tool.
Claim 11
Dependent Claim
27 words
The control method of claim 7, wherein said preferential direction is the normal to the boundary of an authorized area if the tool moves beyond the boundary.
Claim 12
Dependent Claim
26 words
The control method of claim 7, wherein said preferential direction (N, V) is comprised between the normal (N) and the tangent (Tg) to said stored path.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1998-03-20 | 1998-09-19 | 1999-03-21 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2002-03-20 | 2002-09-19 | 2003-03-21 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2006-03-20 | 2006-09-19 | 2007-03-21 | $7700.00 | Window Closed / Lapsed |