Back to results
US 11,365,068 B2Granted
Robotic systems and methods for operating a robot
AssigneeABB Schweiz AG
InventorsSteven Wertenberger, Thomas Watson, Jonathan D. Ferrell
Life of this patent
Estimating the term…
Abstract
A method for operating a robot includes providing target data for a target object; determining whether a pre-pick target for the target object is reachable by the robot; determining whether a pick target is reachable by the robot; and executing a pick routine directing the robot to pick up the target object and deposit the target object at a desired location responsive to a determination that the pre-pick target and the pick target are reachable by the robot.
Claims35
A method for operating a robot, comprising:
- providing target data for a target object to a robotic controller, the target data including a score for the target object, the score being based at least in part on a measure of confidence as to a determination by a vision system of a plurality of axes of the target object, and a determination by the vision system of a predetermined plane of the object, the predetermined plane of the object being defined by a pair of axes of the plurality of axes;
- determining whether a pre-pick target for the target object is reachable by the robot, the pre-pick target comprising a target location at which a predetermined plane of an end effector of the robot is parallel to, and offset along a predetermined axis from, the predetermined plane of the target object, the predetermined axis comprising an axis perpendicular to the predetermined plane of the target object, perpendicular to the predetermined plane of the end effector, passing through a center of the target object, and passing through a center of the end effector, the predetermined plane of the end effector comprising a plane closest to the predetermined plane of the target, the plane closest including at least one point in the end effector;
- determining, if the pre-pick target is determined to be reachable, whether a pick target for the target object is reachable by the robot, the pick target comprising a location along the predetermined axis at which the predetermined plane of the end effector coincides with the predetermined plane of the target object;
- and
- picking up the target object with the robot and depositing the target object at a desired location responsive to a determination that the pre-pick target and the pick target are reachable by the robot.
2 more elements
A method for operating a robot, comprising:
- designating a target object in abin;
- transmitting target data for the target object to a robot controller, the target data including a score for the target object, the score being based at least in part on a measure of confidence as to a determination by a vision system of a plurality of axes of the target object, and a determination by the vision system of a predetermined plane of the object, the predetermined plane of the object being defined by a pair of axes of the plurality of axes;
- determining whether a pre-pick target for the target object is reachable by the robot, the pre-pick target comprising a first target location at which a predetermined plane of an end effector of the robot is parallel to, and offset along a predetermined axis from, the predetermined plane of the target object, the predetermined axis comprising an axis perpendicular to the predetermined plane of the target object, perpendicular to the predetermined plane of the end effector, passing through a center of the target object, and passing through a center of the end effector, the predetermined plane of the end effector comprising a plane closest to the predetermined plane of the target, the plane closest including at least one point in the end effector;
- determining whether a pick target for the target object is reachable by the robot, the pick target comprising a second target location along the predetermined axis at which the predetermined plane of the end effector coincides with the predetermined plane of the target object;
- and
- picking up the target object from the bin with the robot if both the pre-pick target and the pick target are reachable by the robot.
3 more elements
Dependencies are inferred from the claim text.