FR3040783B1 - Capteur angulaire, articulation, dispositif haptique, dispositif de capture de mouvement et robot comprenant un tel capteur. - Google Patents

Capteur angulaire, articulation, dispositif haptique, dispositif de capture de mouvement et robot comprenant un tel capteur. Download PDF

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Publication number
FR3040783B1
FR3040783B1 FR1558304A FR1558304A FR3040783B1 FR 3040783 B1 FR3040783 B1 FR 3040783B1 FR 1558304 A FR1558304 A FR 1558304A FR 1558304 A FR1558304 A FR 1558304A FR 3040783 B1 FR3040783 B1 FR 3040783B1
Authority
FR
France
Prior art keywords
sensor
motion capture
haptical
articulation
capture device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
FR1558304A
Other languages
English (en)
Other versions
FR3040783A1 (fr
Inventor
Florian Gosselin
Dominique Ponsort
Pascal Chambaud
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Commissariat a lEnergie Atomique CEA, Commissariat a lEnergie Atomique et aux Energies Alternatives CEA filed Critical Commissariat a lEnergie Atomique CEA
Priority to FR1558304A priority Critical patent/FR3040783B1/fr
Priority to PCT/EP2016/070887 priority patent/WO2017042134A1/fr
Publication of FR3040783A1 publication Critical patent/FR3040783A1/fr
Application granted granted Critical
Publication of FR3040783B1 publication Critical patent/FR3040783B1/fr
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G01B21/047—Accessories, e.g. for positioning, for tool-setting, for measuring probes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/268—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light using optical fibres
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un capteur (100) angulaire qui comporte des moyens de mesure comprenant : - au moins deux émetteurs (111, 112) de rayons lumineux et au moins un récepteur (121) desdits rayons lumineux, les émetteurs étant agencés de sorte que les axes des émetteurs s'étendent obliquement les uns par rapport aux autres, et/ou - au moins un émetteur de rayons lumineux et au moins deux récepteurs desdits rayons lumineux, les récepteurs étant agencés de sorte que les axes des récepteurs s'étendent obliquement les uns par rapport aux autres. L'invention concerne également une articulation comprenant un tel capteur, un dispositif haptique comprenant un tel capteur, un dispositif de capture de mouvement comprenant un tel capteur et un robot comprenant un tel capteur.
FR1558304A 2015-09-08 2015-09-08 Capteur angulaire, articulation, dispositif haptique, dispositif de capture de mouvement et robot comprenant un tel capteur. Expired - Fee Related FR3040783B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR1558304A FR3040783B1 (fr) 2015-09-08 2015-09-08 Capteur angulaire, articulation, dispositif haptique, dispositif de capture de mouvement et robot comprenant un tel capteur.
PCT/EP2016/070887 WO2017042134A1 (fr) 2015-09-08 2016-09-05 Articulation, dispositif haptique, dispositif de capture de mouvement et robot comprenant une telle articulation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1558304A FR3040783B1 (fr) 2015-09-08 2015-09-08 Capteur angulaire, articulation, dispositif haptique, dispositif de capture de mouvement et robot comprenant un tel capteur.

Publications (2)

Publication Number Publication Date
FR3040783A1 FR3040783A1 (fr) 2017-03-10
FR3040783B1 true FR3040783B1 (fr) 2020-09-18

Family

ID=54366398

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1558304A Expired - Fee Related FR3040783B1 (fr) 2015-09-08 2015-09-08 Capteur angulaire, articulation, dispositif haptique, dispositif de capture de mouvement et robot comprenant un tel capteur.

Country Status (2)

Country Link
FR (1) FR3040783B1 (fr)
WO (1) WO2017042134A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110726385B (zh) * 2018-07-17 2023-08-04 罗伯特·博世有限公司 角度位置检测装置、方法以及电机
DE102020204532A1 (de) * 2020-04-08 2021-10-14 Carl Zeiss Industrielle Messtechnik Gmbh Lagemessung bei einer Positioniervorrichtung

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH683642A5 (fr) * 1990-07-30 1994-04-15 Compac Fabrique D App De Mesur Dispositif de mesure optoélectronique.
JP2941953B2 (ja) * 1990-12-04 1999-08-30 キヤノン株式会社 基準位置の検出方法および回転検出計
DE19854011A1 (de) * 1998-11-12 2000-05-25 Knoll Alois Einrichtung und Verfahren zum Vermessen von Mechanismen und ihrer Stellung
DE10031770A1 (de) * 2000-06-29 2002-01-17 Wolf Gmbh Richard Teleskop-und/oder Gelenkarm
FR2850748B1 (fr) * 2003-02-05 2005-12-30 Actaris Sas Dispositif de detection optique pour compteur
US7979160B2 (en) * 2007-07-31 2011-07-12 Spirit Aerosystems, Inc. System and method for robotic accuracy improvement

Also Published As

Publication number Publication date
WO2017042134A1 (fr) 2017-03-16
FR3040783A1 (fr) 2017-03-10

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