System zur Automatischen oder Halbautomatischen Bewegung eines Gelenkarms, insbesondere eines Gliederkrans

Details

Veröffentlichungs-Nr.

EP4810207

Anmeldetag

3. Februar 2026

Veröffentlichung

23. September 2026

Rechtsraum

EP

IPC

B25J9/16, B66C13/48

Abstract

A system for the automatic or semi-automatic movement of an articulated arm (101) in a workspace comprises:- said articulated arm (101), comprising an articulated crane comprising a plurality of bodies connected in succession to form an open kinematic chain with an end-effector (105), having a plurality of degrees of translational and/or rotational freedom and a plurality of actuators for the movement of said bodies;- a plurality of sensors associated with said bodies, suitable to supply signals representative of linear or angular positions such as to allow the determination of coordinates of the end-effector (105) with respect to a fixed first reference system (x, y, z);- a command device (110) configured for the control of the movements of the articulated arm (101) by an operator;- a vision system (10), arranged in a predefined position with respect to the first reference system (x, y, z) and capable of acquiring images of the workspace and of determining coordinates of one or more reference points in the workspace with respect to a second reference system (x', y', z'), integral with the vision system (10), wherein said one or more reference points correspond to physical reference elements positioned in the workspace and viewable by the vision system (10), and/or to virtual reference points entered as input parameters in the images of the workspace acquired by the vision system (10) by means of a user interface device (112);- at least one control unit operatively connected to said actuators, sensors, vision system (10), command device (110) and user interface device (112), configured to:• determine the coordinates of the one or more reference points in the workspace with respect to the first reference system (x, y, z);• automatically control the movements of the end-effector (105) or modify the movements of the end-effector (105) controlled by the command device (110) as a function of said coordinates of the one or more reference points in the workspace with respect to the first reference system (x, y, z).

Anmelder

Firmen

FASSI GRU S.p.A.
O.ME.FA. S.p.A. Officina Meccanica Fassi
Fondazione Istituto Italiano di Tecnologia
Intellimech Consorzio per la Meccatronica

Land

🇮🇹 Italien

Fachgebiete