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11. 发明公开

EP4177017A1 PREHENSEUR 有权
公开(公告)号：EP4177017A1
公开(公告)日：2023-05-10
申请号：EP22204810.0
申请日：2022-10-31
申请人： Commissariat à l'énergie atomique et aux énergies alternatives
发明人： KFOURY, Fares , GROSSARD, Mathieu
IPC分类号： B25J15/00 , B25J15/02 , B25J9/08 , B25J9/10 , B25J15/10 , B25J15/06
摘要： Préhenseur (1) comportant un bâti (2) et un doigt (3) comprenant une première phalange distale (10) et une deuxième phalange proximale (20) reliées mécaniquement,
la deuxième phalange (20) comprend une première barre (21) et un actionneur linéaire (40) agencés pour former un premier quadrilatère déformable (24).
Dispositif de préhension comprenant une pluralité de préhenseurs

12. 发明公开

EP3465120A1 CAPTEUR D'EFFORTS RESONANT MULTIDIMENSIONNEL 有权
公开(公告)号：EP3465120A1
公开(公告)日：2019-04-10
申请号：EP17723419.2
申请日：2017-05-18
申请人： Commissariat à l'Énergie Atomique et aux Énergies Alternatives
发明人： CASTANO CANO, Davinson , GROSSARD, Mathieu , HUBERT, Arnaud
IPC分类号： G01L5/16 , G01L5/22 , G01L1/16

13. 发明公开

EP3234529A1 CAPTEUR D'EFFORTS RESONANT MULTIDIMENSIONNEL 有权
公开(公告)号：EP3234529A1
公开(公告)日：2017-10-25
申请号：EP15802027.1
申请日：2015-11-25
申请人： Commissariat à l'Énergie Atomique et aux Énergies Alternatives
发明人： CASTANO CANO, Davinson , GROSSARD, Mathieu , HUBERT, Arnaud
IPC分类号： G01L1/16 , G01L1/18 , G01L5/16
摘要： The resonant sensor comprises a test body (10) able to be subjected to a force torque produced by an external mechanical structure, said body (10) comprising at least: - a first interface (2) and a second interface (3) each able to come into contact with said structure; - at least two sensitive areas (1) each arranged between said two interfaces (2, 3); one sensitive area being formed by a plate (21) embedded in a frame (22) rigidly mechanically connected to said interfaces, said plate being able to resonate under the effect of local mechanical excitations produced at particular points by excitation transducers carrying said plate at several resonant frequencies, sensors capturing the resonance signals produce at said particular points, measurement means measuring the resonant frequency shifts of the signals which are linear combinations of the captured resonance signals, said shifts being a function of the mechanical stresses induced by said forces and transmitted to said plate (21) by said frame (22), the components of said torque forces being determined from the resonant frequency shifts measured on the plates (21) of said sensitive areas (1).
摘要翻译：该谐振传感器包括能够承受由外部机械结构产生的力矩的测试本体（10），所述本体（10）至少包括： - 第一接口（2）和第二接口（3），各自能够与所述结构接触; - 至少两个敏感区域（1），每个敏感区域布置在所述两个接口（2,3）之间; 一个敏感区域由嵌入刚性地机械连接到所述界面的框架（22）中的板（21）形成，所述板能够在由特定点产生的局部机械激励的作用下共振，所述激励换能器在几个谐振频率，捕获在所述特定点处产生的谐振信号的传感器，测量装置，用于测量信号的谐振频率偏移，所述信号是所捕获的谐振信号的线性组合，所述偏移是由所述力引起的机械应力的函数，所述板（21）由所述框架（22）限定，所述扭矩力的分量由在所述敏感区域（1）的板（21）上测得的共振频移确定。

14. 发明公开

EP2956276A1 PROCEDE DE DETECTION AMELIOREE DE COLLISION D'UN ROBOT AVEC SON ENVIRONNEMENT, SYSTEME ET PRODUIT PROGRAMME D'ORDINATEUR METTANT EN UVRE LE PROCEDE 有权
标题翻译：方法用于机器人具有用于实现ITS环境，系统和计算机程序产品碰撞的改进的检测
公开(公告)号：EP2956276A1
公开(公告)日：2015-12-23
申请号：EP14704111.5
申请日：2014-02-07
申请人： Commissariat à l'Énergie Atomique et aux Énergies Alternatives
发明人： CALDAS, Alex , MAKAROV, Maria , GROSSARD, Mathieu
IPC分类号： B25J9/16 , G05B23/02
摘要： The invention relates to a method for detecting a collision between a robot and its environment, comprising the following steps: generating, from a dynamic model of the robot, a signal representative of the collisions between the robot and its environment, said signal being called residue r; performing an adaptive high-pass filtering of the residue r; recursively determining an adaptive threshold T consisting of at least one dynamic first term Τ
Δ1 , equal to a piece of information about the parametric uncertainties between said model and the real behaviour of the robot, said parametric uncertainties being linked to a first variable e, characteristic of the state of said robot, from the following variables: the position, the speed or the acceleration of an articulation of the robot, or a linear or non-linear function of one of said variables or a combination of said variables; and comparing the filtered residue to the adaptive threshold T in order to deduce the existence or not of a collision.

15. 发明授权

EP2504676B1 CAPTEUR DE FORCE RESONANT SENSIBLE A DES MICRO-FORCES 有权
标题翻译：微力敏无功谐振功率传感器
公开(公告)号：EP2504676B1
公开(公告)日：2015-12-23
申请号：EP10778678.2
申请日：2010-11-22
申请人： Commissariat à l'Énergie Atomique et aux Énergies Alternatives
发明人： BOUKALLEL, Mehdi , GROSSARD, Mathieu
IPC分类号： G01L1/10 , G01L1/16 , G01L1/18 , G01L9/00 , G01G3/13 , G01G3/16
CPC分类号： G01L1/162 , G01L1/106 , G01L1/183 , G01L9/0022

16. 发明公开

EP2558911A2 DISPOSITIF ET PROCÉDÉ D'OBSERVATION OU DE COMMANDE D'UN SYSTÈME NON LINÉAIRE 审中-公开
标题翻译：装置和方法用于监视和控制非线性系统
公开(公告)号：EP2558911A2
公开(公告)日：2013-02-20
申请号：EP11719348.2
申请日：2011-04-11
申请人： Commissariat à l'Énergie Atomique et aux Énergies Alternatives
发明人： GROSSARD, Mathieu , BOUKALLEL, Mehdi
IPC分类号： G05B13/04
CPC分类号： G05B19/18 , G05B2219/41146 , G05B2219/41367 , G05B2219/42078
摘要： This device for observing a nonlinear system (20) comprises: - at least one sensor (14) for providing a measurement vector, each component of which is a measurable output parameter of the nonlinear system (20), - a state observer processor (12), based on a predetermined state representation of the nonlinear system (20), designed to provide an estimation of a state vector of the nonlinear system as a function of the measurement vector provided and of a control vector for the nonlinear system. Furthermore, the predetermined state representation comprising a model of nonlinearity of the system (20) in the form of a gain parameter, a component of the state vector is this gain parameter.

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