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US 11,312,581 B2Granted
Object grasp system and method
AssigneeABB Schweiz AG
InventorsJinmiao Huang, Sangeun Choi, Carlos Martinez
Life of this patent
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Abstract
A grasping system includes a robotic arm having a gripper. A fixed sensor monitors a grasp area and an onboard sensor moves with the gripper also monitors the area. A controller receives information indicative of a position of an object to be grasped and operates the robotic arm to bring the gripper into a grasp position adjacent the object based on information provided by the fixed sensor. The controller is also programmed to operate the gripper to grasp the object in response to information provided by the first onboard sensor.
Claims8
An object grasp system, comprising:
- a robotic arm assembly having a distal end, the distal end being selectively moveable by the robotic arm with respect to a fixed frame;
- a gripper disposed on the distal end, the gripper adapted to grasp an object located in an area;
- a fixed sensor disposed to monitor the area and positioned in a stationary fashion relative to the fixed frame;
- a first onboard sensor disposed to move with the gripper on the distal end of the robotic arm, the first onboard sensor disposed to monitor the area;
- and
- a controller operably associated with the robotic arm assembly and the gripper and operating to control an operation thereof;
- the controller further operably associated with the fixed sensor and the first onboard sensor and disposed to receive information therefrom indicative of a position of the object and the gripper with respect to the fixed frame, and also a position of the object relative to the gripper, the controller being programmed to:
- operate the robotic arm assembly to bring the gripper into a grasp position adjacent the object based on information provided by the fixed sensor;
- operate the gripper to grasp the object in response to information provided by the first onboard sensor;
- and
- further comprising a force/torque sensor disposed on the gripper between the gripper and the distal end of the robotic arm assembly, the force/torque sensor providing information to the controller indicative of one or more forces and one or more moments present at the distal end by the gripper while the object is grasped by the gripper,
- wherein the controller is further programmed to automatically select a grasp location on the object, which is engaged by the gripper, based on the information provided to the controller by the force/torque sensor, and
- wherein the controller is further programmed to estimate a location of a center of gravity of the object based on the information provided to the controller by the force/torque sensor.
10 more elements
An object grasp system, comprising:
- a robotic arm assembly having a distal end, the distal end being selectively moveable by the robotic arm with respect to a fixed frame;
- a gripper disposed on the distal end, the gripper adapted to grasp an object located in an area;
- a fixed sensor disposed to monitor the area and positioned in a stationary fashion relative to the fixed frame;
- a first onboard sensor disposed to move with the gripper on the distal end of the robotic arm, the first onboard sensor disposed to monitor the area;
- and
- a controller operably associated with the robotic arm assembly and the gripper and operating to control an operation thereof;
- the controller further operably associated with the fixed sensor and the first onboard sensor and disposed to receive information therefrom indicative of a position of the object and the gripper with respect to the fixed frame, and also a position of the object relative to the gripper, the controller being programmed to:
- operate the robotic arm assembly to bring the gripper into a grasp position adjacent the object based on information provided by the fixed sensor;
- operate the gripper to grasp the object in response to information provided by the first onboard sensor;
- and
- further comprising a tactile sensor disposed on the robotic arm assembly adjacent the distal end, the tactile sensor providing information to the controller indicative of a position of the object relative to the gripper, wherein the controller is further programmed to adjust a grasp location on a subsequent object, which was already engaged by the gripper, based on the information provided to the controller by the tactile sensor for a previous object engaged by the gripper.
8 more elements
An object grasp system, comprising:
- a robotic arm assembly having a distal end, the distal end being selectively moveable by the robotic arm with respect to a fixed frame;
- a gripper disposed on the distal end, the gripper adapted to grasp an object located in an area;
- a fixed sensor disposed to monitor the area and positioned in a stationary fashion relative to the fixed frame;
- a first onboard sensor disposed to move with the gripper on the distal end of the robotic arm, the first onboard sensor disposed to monitor the area;
- and
- a controller operably associated with the robotic arm assembly and the gripper and operating to control an operation thereof;
- the controller further operably associated with the fixed sensor and the first onboard sensor and disposed to receive information therefrom indicative of a position of the object and the gripper with respect to the fixed frame, and also a position of the object relative to the gripper, the controller being programmed to:
- operate the robotic arm assembly to bring the gripper into a grasp position adjacent the object based on information provided by the fixed sensor;
- operate the gripper to grasp the object in response to information provided by the first onboard sensor;
- and
- further comprising an inertia sensor disposed on the gripper, the inertia sensor providing information to the controller indicative of a position of the object relative to the gripper, wherein the controller is further programmed to adjust a grasp location on a subsequent object, which was already engaged by the gripper, based on the information provided to the controller by the inertia sensor for a previous object engaged by the gripper.
8 more elements
Dependencies are inferred from the claim text.