Patent ID: 9193069
Filing Date: 2015-11-24
Classification: B25J,G05B,Y10S

Abstract:
1. A control method for a robot comprising at least one articulation and at least one gripping member adapted to move an item in space, the robot being controlled by control means, said method comprising a concatenation of at least the following steps: a step of positioning control means on the item, a step of determining the position and attitude of the control means on the basis of measurements of forces applied to the control means, defining a first force torsor, and corresponding forces at the gripping member of the robot, defining a second force torsor, a step of determining force or force/position control setpoints for the robot on the basis of measurements of forces on the control means applied to move the item, and of the position and attitude determined during the determination step, a control step in which the determined setpoints are sent to the robot.