Controller and control method for robotic system

A tangible, non-transitory computer readable medium having processor instructions stored thereon that, when executed by one or more processors of a computer, cause the computer to perform a method for controlling an operation robot for manipulating operation objects to load the operation objects on a pallet and/or unload the operation objects from the pallet, and wherein the method comprises:

• deriving first data including information about an operation object and information about the pallet before loading of the operation object on the pallet and/or before unloading of the operation object from the pallet;
• deriving second data including information about the operation object and information about the pallet after loading of the operation object on the pallet and/or after unloading of the operation object from the pallet;
• storing the first data and the second data;
• creating or deriving, at least in part, a control sequence for loading of the operation object on the pallet and/or unloading of the operation object from the pallet based on the first data before loading of the operation object on the pallet and/or before unloading of the operation object from the pallet;
• instructing the operation robot to, using an end effector of the robotic and based on the control sequence, execute a task of loading the operation object on the pallet and/or unloading the operation object from the pallet, and
• before loading of the operation object on the pallet and/or unloading of the operation object from the pallet are/is actually finished, determining that the loading of the operation object on the pallet and/or the unloading of the operation object from the pallet are/is completed,
• wherein creating or deriving the control sequence includes creating or deriving the control sequence based on the first data and/or the second data such that:
• at least two operation objects having different stock keeping units from one another are loaded on the pallet, and
• a plurality of operation objects having same or similar stock keeping units are placed on the pallet in a concentrated manner.

A method for controlling an operation robot adapted to manipulate operation objects to load the operation objects on a pallet and/or unload the operation objects from the pallet, wherein the method is performed by a controller having a data deriving unit, a data storage unit, and a robot control unit, and wherein the method comprises:

• deriving first data using the data deriving unit, the first data including information about an operation object and information about the pallet, before loading of the operation object on the pallet and/or before unloading of the operation object from the pallet;
• storing the first data using the data storage unit;
• creating or deriving, at least in part and using the robot control unit and based on the first data, a control sequence for loading the operation object on the pallet and/or unloading the operation object from the pallet before loading of the operation object on the pallet and/or unloading of the operation object from the pallet;
• instructing, using the robot control unit and based on the control sequence, the operation robot to execute, using an end effector of the robotic, a task of loading the operation object on the pallet and/or unloading the operation object from the pallet;
• and
• determining that loading of the operation object on the pallet and/or unloading of the operation object from the pallet are/is completed, before the loading of the operation object on the pallet and/or the unloading of the operation object from the pallet are/is actually finished.