Robot for guiding movements and control method thereof

• US 5,399,951 A
• Filed: 05/11/1993
• Issued: 03/21/1995
• Est. Priority Date: 05/12/1992
• Status: Expired due to Term

• Current Assignee: Universite Joseph Fourier
• Original Assignee: Universite Joseph Fourier
• Inventors: Troccaz, Jocelyne, Lavallee, Stephane
• Primary Examiner(s): Shoop, Jr., William M.
• Assistant Examiner(s): Cabeca, John W.
• Application Number:
  US08/059,407
• Time in Patent Office: 679 Days
• Field of Search: 364/413.01, 364/413.13, 364/413.14, 364/413.15, 364/413.16, 364/413.19, 395/88, 395/94, 395/95, 395/96, 395/97, 606/32, 606/53, 606/167, 606/172, 318/568.13, 318/573, 318/568.14, 318/568.11, 318/574, 318/628, 318/568.1, 318/567, 901/19, 901/23, 901/46, 901/47, 901/27
• US Class Current: 318/567
• CPC Class Codes: G05B 19/423 Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
• CPC Class Codes: G05B 2219/49137 Store working envelop, limit, allowed zone
• CPC Class Codes: G05B 2219/49141 Detect near collision and slow, stop, inhibit movement tool

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.

Claims

1. 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.

2. 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.

3. 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.

4. 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.

5. The robot of claim 1, wherein each coupling means includes a clutch controlled by a solenoid.

6. The robot of claim 1, including, for each degree of freedom, a speed limiting means, controlled by the computer system.

7. 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.

8. 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.

9. 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.

10. 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.