Patent ID: 11872697
Assignee: FTS WELDING
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A collaborative device comprising:
a robotic arm including at least one motor;
a tool secured to a free end of the robotic arm;
a computer unit connected to the robotic arm to transmit instructions for controlling the robotic arm;
a joint interposed between the robotic arm and the tool, the joint having:
a first portion secured to the robotic arm; and
a second portion secured to the tool; and

a flexible connection interposed between the first portion and the second portion,
the device being configured to adopt at least:
a learning mode in which the tool is moved by a technician, and
an automatic mode in which the robotic arm replicates a trajectory manually performed by the technician in the learning mode,

the device integrating at least one sensor parameterised to detect forces exerted on the flexible connection when the tool is moved by the technician, in the learning mode of the device,
the computer unit being configured to:
receive data from the sensor during the learning mode;
translate said data into torques applied at said at least one motor of the robotic arm during the learning mode;
generate instructions for attenuating the applied torques; and
control said at least one motor of the robotic arm with the attenuation instructions during the movement of the tool by the technician in the learning mode to limit a brake effect of a resistance torque of the at least one motor against the movement of the tool by the technician in the learning mode.