发明名称 |
METHOD AND SYSTEM FOR ASSISTING IN THE HANDLING OF ROBOTIZED MACHINES IN A CONGESTED ENVIRONMENT |
摘要 |
<p>A method for handling of a first robotized mobile machine moving in a congested working environment under the control of a second robotized mobile machine, providing the operator, in real time, with a relevant view of the working scene, even if an object intrudes into the field of view of the camera and thereby obscures the operator's view. This method is based on use of properties of a physics engine of the constraint resolution type. For each object in the scene, the physics engine has a physical representation of said object in the form of a mesh. The engine calculates a wrench on the basis of the respective positions and velocities of two objects. In case of a collision between the manipulator and a fixed object in the scene, the engine determines the wrench to be applied to the manipulator in order to make it avoid the object.</p> |
申请公布号 |
EP2542390(B1) |
申请公布日期 |
2013.11.20 |
申请号 |
EP20110702846 |
申请日期 |
2011.02.11 |
申请人 |
COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIESALTERNATIVES |
发明人 |
DAVID, OLIVIER;MEASSON, YVAN;RUSSOTTO, FRANCOIS-XAVIER |
分类号 |
B25J9/16;B25J19/02 |
主分类号 |
B25J9/16 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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