EP 4117867 A1 20230118 - METHOD FOR AUTOMATICALLY PERFORMING AN OPERATION ON AN OBJECT WITH A TOOL CARRIED BY A POLYARTICULATED SYSTEM
Title (en)
METHOD FOR AUTOMATICALLY PERFORMING AN OPERATION ON AN OBJECT WITH A TOOL CARRIED BY A POLYARTICULATED SYSTEM
Title (de)
VERFAHREN ZUR AUTOMATISCHEN DURCHFÜHRUNG EINER OPERATION AN EINEM OBJEKT MIT EINEM VON EINEM MEHRGELENKIGEN SYSTEM GETRAGENEN WERKZEUG
Title (fr)
PROCÉDÉ DE RÉALISATION AUTOMATIQUE D'UNE OPÉRATION SUR UN OBJET AVEC UN OUTIL PORTÉ PAR UN SYSTÈME POLYARTICULÉ
Publication
Application
Priority
- FR 2002515 A 20200313
- FR 2021050380 W 20210305
Abstract (en)
[origin: WO2021181035A1] The invention relates to a method and an apparatus for automatically performing an operation on an object (2) with a tool (4) carried by a polyarticulated system (5) that can be moved in a working environment (3), the object (2) and the working environment (3) being open-ended or insufficiently defined to carry out the operation. According to the invention, the method comprises at least: - a step A which consists in capturing, in the form of a scatter plot, an image of the object (2) and of the working environment (3) with at least one 3D sensor (6), in merging this image with the CAD model of the polyarticulated system and with the possible CAD model of the environment into a working image, and in defining anti-collision parameters; - a step B which consists in defining a path of the tool (4) on the portion of the working image representing the object (2), and in executing a simulation of the corresponding movement of the polyarticulated system (5) and of the tool in the working image so as to ensure that the operation is feasible; - a step C which consists, if the operation is feasible according to step B, in executing the actual movement of the polyarticulated system (5) carrying the tool (4) according to the path (10) defined for performing the operation on the object (2).
IPC 8 full level
B25J 9/16 (2006.01)
CPC (source: EP KR US)
B25J 9/0096 (2013.01 - KR); B25J 9/1605 (2013.01 - US); B25J 9/1664 (2013.01 - EP KR); B25J 9/1666 (2013.01 - US); B25J 9/1671 (2013.01 - KR); B25J 9/1697 (2013.01 - EP KR US); B25J 19/02 (2013.01 - KR); G05B 2219/40442 (2013.01 - EP KR); G05B 2219/40475 (2013.01 - EP KR); Y02E 30/30 (2013.01 - EP)
Citation (search report)
See references of WO 2021181035A1
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
Designated extension state (EPC)
BA ME
Designated validation state (EPC)
KH MA MD TN
DOCDB simple family (publication)
FR 3108183 A1 20210917; FR 3108183 B1 20220225; CN 115916476 A 20230404; EP 4117867 A1 20230118; JP 2023530209 A 20230714; KR 20220154716 A 20221122; US 2023106854 A1 20230406; WO 2021181035 A1 20210916
DOCDB simple family (application)
FR 2002515 A 20200313; CN 202180029322 A 20210305; EP 21714659 A 20210305; FR 2021050380 W 20210305; JP 2022555706 A 20210305; KR 20227034950 A 20210305; US 202117906142 A 20210305