Autonomous system and method for determining information representative of the movement of an articulated chain

• US 9,021,712 B2
• Filed: 06/24/2009
• Issued: 05/05/2015
• Est. Priority Date: 06/27/2008
• Status: Active Grant

• Current Assignee: Commissariat a L'Energie Atomique (AES Corporation), Movea
• Original Assignee: Commissariat A L'Energie Atomique et AUX Energies Alternatives
• Inventors: Godin, Christelle, Caritu, Yanis
• Primary Examiner(s): GUADALUPE, YARITZA
• Application Number:
  US13/001,358
• Publication Number:
  US 20110173831A1
• Time in Patent Office: 2,141 Days
• Field of Search: 335/11, 335/12, 335/03
• US Class Current: 33/512
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: B25J 9/1615 characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
• CPC Class Codes: B25J 9/162 Mobile manipulator, movable base with manipulator arm mounted on it

Abstract

The invention relates to an autonomous system for determining items of information representative of the movement of an articulated chain (CA_—1, CA_—2, CA_—3) comprising at least two solid elements (ES1_—1, ES2_—1, ES1_—2, ES2_—2, ES3_—2, ES1_—3, ES2_—3, ES3_—3, ES4_—3) and at least one articulation (ART1_—1, ART1_—2, ART2_—2, ART1_—3, ART2_—3, ART3_—3) connecting said two elements. The system comprises at least two devices (DISP1_—1, DISP2_—1, DISP1_—2, DISP2_—2, DISP3_—2, DISP1_—3, DISP2_—3, DISP3_—3, DISP4_—3) for measuring inter-device distances, mounted fixedly on two distinct elements of said articulated chain and suitable for transmitting the measurements made. Moreover, the system comprises means for determining at least one distance separating two measuring devices based on at least one measurement supplied by a measuring device, and calculation means (CALC), mounted on said articulated chain, suitable for calculating items of information representative of the movement of said articulated chain based on the measurements transmitted by said devices for measuring inter-device distances.

Claims

1. An autonomous system for determining items of information representative of the movement of an articulated chain comprising at least two solid elements and at least one articulation connecting said two elements, said system being characterized in that it comprises:

at least two devices for measuring inter-device distances between the at least two devices, mounted fixedly each on a respective distinct element of said articulated chain and suitable for transmitting the measurements made;

means for determining at least one distance separating the at least two measuring devices based on at least one measurement supplied by at least one of the two measuring devices; and

calculation means, suitable for calculating items of information representative of the movement of said articulated chain based on the distances transmitted by said distance-determination means.

2. The system as claimed in claim 1, wherein said distance-determination means and said calculation means are mounted on said articulated chain.

3. The system as claimed in one of claim 1, wherein at least one of said devices for measuring inter-device distances is suitable for emitting and/or receiving data.

4. The system as claimed in any one of claim 1, also comprising at least one accelerometer and/or one gyrometer and/or one magnetometer supplying complementary measurements used by the calculation means.

5. The system as claimed in one of claim 1, comprising at least one optical device for measuring inter-device distances.

6. The system as claimed in one of claim 1, comprising storage means, mounted on said articulated chain, suitable for storing said items of information representative of the movement of said articulated chain delivered by said calculation means, or for directly storing said at least one distance.

7. The system as claimed in one of claim 1, wherein said measuring devices are mounted on said solid elements of said articulated chain so that, for at least one articulation, the sum, for all of said measuring devices mounted on a solid element linked to said articulation, of the distances separating a measuring device and the articulation, is maximal.

8. The system as claimed in one of claim 1, wherein said measuring devices are mounted on said solid elements of said articulated chain so that the distances between devices placed on one and the same solid element are maximal.

9. The system as claimed in one of claim 1, wherein said articulated chain comprises a solid element linked to two articulations, at least one measuring device being placed substantially in the middle of said solid element.

10. The system as claimed in one of claim 1, comprising at least one measuring device per solid element of the articulated chain and per degree of freedom of an articulation linked to the solid element, said chain having no closed portion, said measuring devices being placed on the solid element so that the following relation is verified:

NEQ≦

NVAR,

wherein;

NEQ represents the number of equations linking to the distance measurements the unknown position variables of the end of each segment moved by an articulation of the articulated chain; and

NVAR represents the number of said unknown position variables.

11. The system as claimed in claim 10, comprising at least one solid element linked to an articulation furnished with at least two measuring devices, said measuring devices being placed on said solid element so that they avoid forming a straight line with the articulation.

12. The system as claimed in claim 10, comprising at least one solid element linked to an articulation and furnished with at least three measuring devices, said measuring devices being placed on said solid element so that they avoid forming a plane with the articulation.

13. The system as claimed in one of claim 1, comprising at least one measuring device per solid element of the articulated chain and per degree of freedom in rotation of an articulation linked to the solid element, said measuring devices are placed on the solid element so that the vector linking the articulation to a device is linearly independent of the vector or vectors linking the articulation to the other measuring devices.

14. The system as claimed claim 1, wherein said measuring devices comprise a measurable maximal threshold distance.

15. The system as claimed in claim 1, also comprising transmission means (TR) mounted on said articulated chain in order to transmit items of information representative of the movement of said articulated chain or of the determined inter-device distances stored in said storage means.

16. The system as claimed in claim 1, wherein said measuring devices and/or said calculation means, and/or said storage means, and/or said transmission means are suitable for operating on a living body considered to be said articulated chain.

17. A method for determining items of information representative of the movement of an articulated chain comprising at least two solid elements and at least one articulation linking said two elements, characterized in that it comprises the following steps:

fixedly mounting at least two distance-measuring devices each on a respective distinct solid element of the articulated chain;

determining at least one distance based on at least one measurement supplied by at least one of the two distance-measuring devices; and

calculating items of information representative of the movement of said articulated chain based on the previously-determined distances.