US 12,330,312 B2
Method for automatically performing an operation on an object with a tool carried by a polyarticulated system
Jean-Louis Deparis, La Talaudiere (FR); Hervé Henry, Saint-Cyr-les-Vignes (FR); and Jean-François Thro, Suresnes (FR)
Assigned to ORANO DS—DÉMANTÈLEMENT ET SERVICES, Gif-sur-yvette (FR); and SILÉANE, Saint-Etienne (FR)
Appl. No. 17/906,142
Filed by Orano DS—Démantèlement et services, Gif-sur-Yvette (FR); and Siléane, Saint-Etienne (FR)
PCT Filed Mar. 5, 2021, PCT No. PCT/FR2021/050380
§ 371(c)(1), (2) Date Sep. 12, 2022,
PCT Pub. No. WO2021/181035, PCT Pub. Date Sep. 16, 2021.
Claims priority of application No. 2002515 (FR), filed on Mar. 13, 2020.
Prior Publication US 2023/0106854 A1, Apr. 6, 2023
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1666 (2013.01) [B25J 9/1605 (2013.01); B25J 9/1697 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A method for automatically performing an operation on an object with a tool carried by a polyarticulated system movable in a working environment, wherein it comprises at least:
a step A of capturing, in the form of an overall point cloud, an image of the object and of all or part of the working environment with at least one 3D sensor; merging said image with a pre-existing CAD model of the polyarticulated system and a pre-existing CAD model of all or part of the working environment as built, this merging resulting in a work image; and defining anti-collision parameters;
a step B of defining a trajectory of the tool on the part of the work image representing the object, and executing a simulation of the corresponding movement of the polyarticulated system and the tool in the work image to ensure that the operation is feasible; and
a step C of, if the operation is feasible according to step B, executing the actual movement of the polyarticulated system carrying the tool along the trajectory defined to perform the operation on the object.