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AssigneeCommissariat A L'energie Atomique Et Aux Energies Alternatives
InventorsOlivier David, Yvan Measson, Francois-Xavier Russotto
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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.
A method for assisting in the handling of at least a first robotized mobile machine moving in a congested working environment under the control of at least a second robotized mobile machine, the method comprising:
A remote handling system for the remote handling of at least a first robotized machine moving in a congested working environment by means of an articulated master arm actuated by an operator, the movements of said master arm being reproduced by said first robotized machine using means for capturing, transmitting and reproducing the movements, the system comprising
Dependencies are inferred from the claim text.