Collaborative manipulation robot with hybrid force control law providing high effector sensitivity and enabling interaction with the body of the robot

By placing multi-axis force sensors between the robot's end effector and the tool, and combining force amplification control laws and internal velocity loops, the robot controller was improved, solving the problems of insufficient transparency and sensitivity in existing robots, and achieving more efficient collaborative manipulation.

CN116710238BActive Publication Date: 2026-07-21COMMISSARIAT A LENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
COMMISSARIAT A LENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES
Filing Date
2021-12-17
Publication Date
2026-07-21

AI Technical Summary

Technical Problem

Existing collaborative manipulation systems for industrial robots have shortcomings in terms of transparency and sensitivity. In particular, mechanically opaque or irreversible joints lead to inaccurate friction compensation, affecting the stability and efficiency of operator-robot interaction.

Method used

By employing a multi-axis force sensor to measure the force between the tool and the robot's end effector, and combining it with a force amplification control law and an internal velocity loop, the controller is improved through saturation functions and integral gain, thereby suppressing joint friction and enhancing the robot's sensitivity.

Benefits of technology

It significantly reduces joint mechanical friction during operator-assisted manipulation, improves the robot's sensitivity to interaction with the environment, ensures natural force balance under various interaction conditions, and does not require modification of the robot's structure.

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Abstract

A collaborative manipulator robot is disclosed having a hybrid force control law that provides high effector sensitivity and enables interaction with the body of the robot. The invention essentially consists in carefully arranging a multi-axis force sensor between the end part (flange) of the industrial collaborative manipulator robot and the tool supported by it, and in modifying the force augmentation control law implemented in the robot controller by introducing a saturation function.
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