Locating and attaching interchangeable tools in-situ
AssigneeThe Charles Stark Draper Laboratory, Inc.
InventorsDavid M. S. Johnson, Syler Wagner, Justin Rooney, Steven Lines, Anthony Tayoun, Mitchell Hebert
Life of this patent
Estimating the term…
Abstract
Current technologies allow a robot to acquire a tool only if the tool is in a set known location, such as in a rack. In an embodiment, a method and corresponding system, can determine the previously unknown pose of a tool freely placed in an environment. The method can then calculate a trajectory that allows for a robot to move from its current position to the tool and attach with the tool. In such a way, tools can be located and used by a robot when placed at any location in an environment.
Claims20
A method comprising:
- determining, by a computer, a pose of at least one tool, configured to mate with an interface of a robot, within an environment based upon at least one image of the environment;
- determining, by the computer, a target attachment pose of the robot interface, based on the determined tool pose;
- computing, by the computer, an open loop trajectory of the robot that includes moving the robot interface from a first position to the determined target attachment pose of the robot interface to at least one tool;
- computing a closed loop trajectory that analyzes force feedback and torque feedback in response to contact between the robot interface and the tool;
- executing at least one of the computed open loop trajectory and closed loop trajectory of the robot, the executed computed trajectory enabling the robot interface to mate with the at least one tool and subsequently enabling the robot to control the at least one tool.
A system comprising:
- a processor;
- and
- a memory with computer code instructions stored thereon, the processor and the memory, with the computer code instructions, being configured to cause the system to:
- determining a pose of at least one tool, configured to mate with an interface of a robot, within an environment based upon at least one image of the environment;
- determining a target attachment pose of the robot interface, based on the determined tool pose;
- computing an open loop trajectory of the robot that includes moving the robot interface from a first position to the determined target attachment pose of the robot interface to at least one tool;
- computing a closed loop trajectory that analyzes force feedback and torque feedback in response to contact between the robot interface and the tool;
- executing at least one of the computed open loop trajectory and the computed closed loop trajectory of the robot, the executed computed trajectory enabling the robot interface to mate with the at least one tool and subsequently enabling the robot to control the at least one tool.
Dependencies are inferred from the claim text.