Method and system for assisting in robot control, having a function for detecting the intention of an operator

摘要

A method for assisting in the control of a collaborative robot is provided, comprising a grasping member capable of holding a part at a grasping point, by an operator acting on control means disposed on the part at at least one holding point, the assistance method allowing the robot to execute a plurality of types of assistance, corresponding to a plurality of predetermined characteristic movements of the grasping member, comprises at least: a first step of detecting the intention of the operator determining the intention of the operator to execute a predetermined type of assistance from an analysis of haptic data of the operator; and a second step of determining the commands that the robot must execute as a function of the detected intention in order to provide the appropriate assistance.

主权项

1. A method for assisting in the control of a robot, comprising a grasping member capable of holding a part to be manipulated at a grasping point, by an operator acting on the part at at least one holding point, the assistance method allowing the robot to execute a plurality of types of assistance corresponding to a plurality of predetermined characteristic movements of the grasping member, the method comprising:
a first step of measuring or estimating a force torsor applied by the operator to the part and a kinematic torsor, a second step of determining a type of assistance intended by the operator, from among the plurality of types of assistance, based on the analysis of the force torsor and the kinematic torsor reduced at a specified point and the knowledge of a current type of assistance executed by the robot; a third step of activation of the assistance determined in the second step, that the robot must execute, the third step retrieving control commands intended for the robot.