US 12,076,795 B2
Method for pushing a tool at the end of an articulated arm against a surface without slipping and device for implementing same
Sylvain Guerin, Seclin (FR); and Julien Guerin, Gondecourt (FR)
Assigned to ADVANCED ELECTRICAL TOOLS, Seclin (FR)
Appl. No. 17/286,965
Filed by ADVANCED ELECTRICAL TOOLS, Seclin (FR)
PCT Filed Oct. 22, 2019, PCT No. PCT/FR2019/052502
§ 371(c)(1), (2) Date Apr. 20, 2021,
PCT Pub. No. WO2020/084243, PCT Pub. Date Apr. 30, 2020.
Claims priority of application No. 18 59732 (FR), filed on Oct. 22, 2018.
Prior Publication US 2021/0387266 A1, Dec. 16, 2021
Int. Cl. B23B 35/00 (2006.01); B25J 9/16 (2006.01); B25J 11/00 (2006.01)
CPC B23B 35/00 (2013.01) [B25J 9/1633 (2013.01); B25J 11/0055 (2013.01); B23B 2270/483 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method for pushing, with a force (F) according to an axis (A), a tool (1) at the end of an articulated arm (2) against a surface (3) with a normal (N), comprising the steps of:
(a) positioning the tool (1) against said surface (3), so as to make the axis (B) of the tool coincide with said axis (A) of the force (F), the axis (A) being directed according to a pair of angles (Θ0, β0) with respect to the normal (N),
(b) applying an increasing force to the tool (1) until reaching a value (Fn), corresponding to a fraction of the force (F), the value of the applied force (Fn) being monitored via means for measuring the reaction force (R) of the surface (3) on the tool (1),
(c) measuring the pair of angles (Θn, βn) of the axis (B) of the tool (1) with respect to the normal (N), after having reached said force value (Fn),
(d) redirecting the tool (1) such that the tool's axis (B) recovers said orientation according to said pair of angles (Θ0, β0) with respect to the normal (N),
the method wherein iteration is carried out to proceed, by repetition of steps (b) to (d), while progressively increasing the force (Fn) at each iteration, and until reaching the force value (F), the increase increment (ΔFn) between two successive steps (Fn) corresponding to the difference between the value (Fn) of one iteration and the value (Fn−1) of the previous iteration, said increment being smaller than a determined value, so as to prevent slipping of the tool (1) on the surface (3) throughout the method, from positioning of the tool (1) on the surface (3) during step (a) and until obtaining the desired force (F) on completion of step (d) of the last iteration of the method.