US 11,628,561 B2 · System and methods for robotic precision placement and insertion

Abstract

A system and methods are disclosed for precision placement or insertion of an object using robotic manipulation. A robotic tool includes at least three members, including a first member and a second member that grip the object between opposing faces and a third member that exerts a force on a proximate end of the object to push the object out of the robotic tool. A series of maneuvers is performed with the robotic tool in order to place the object on a surface or insert the object in a hole. The maneuvers include positioning the object against the surface, rotating the object around a contact point between the object and the surface, rotating the robotic tool around a contact point between the object and either the first or second member of the robotic tool, sliding the object horizontally along a surface, and tucking the object into a final desired position.

Claims18

Dependent claims

A controller configured to operate a robotic tool for precision placement or insertion, the controller comprising:

a memory storing instructions for operating the robotic tool;
and
a processor configured to execute the instructions to cause the robotic tool to perform a series of maneuvers comprising:
gripping an object between a first member and a second member of the robotic tool;
positioning the object at a desired position, wherein, in the desired position, a distal end of the object contacts a surface;
rotating the robotic tool around a first contact point between the distal end of the object and the surface;
adjusting the first member and the second member of the robotic tool while rotating the robotic tool around a second contact point between the object and one of the first member or the second member;
and
performing a push-tuck maneuver by extending a third member to eject the object from the robotic tool, wherein the push-tuck maneuver includes at least one of translation or rotation of the robotic tool relative to the surface while extending the third member.

6 more elements

A method for precision placement or insertion of an object by a robotic tool, the method comprising:

gripping the object in a robotic tool, wherein the robotic tool includes a first member that exerts a force against a first face of the object and a second member that exerts an opposite force against an opposing face of the object, wherein a distance between the first face and the opposing face defines a width of the object;
positioning the object at a desired position, wherein, in the desired position, a distal end of the object contacts a surface;
rotating the robotic tool around a contact point between the distal end of the object and the surface;
adjusting the first member and the second member of the robotic tool while rotating the robotic tool around a contact point between the object and one of the first member or the second member;
and
performing a push-tuck maneuver by extending a third member to eject the object from the robotic tool, wherein the push-tuck maneuver includes at least one of translation or rotation of the robotic tool relative to the surface while extending the third member.

3 more elements

Dependencies are inferred from the claim text.

System and methods for robotic precision placement and insertion

Life of this patent

System and methods for robotic precision placement and insertion

Life of this patent

Abstract

Claims18