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US 11,759,957 B2Granted
System and method for member articulation
AssigneeHamilton Sundstrand Corporation
InventorsBrigid A. Blakeslee, Edward Tunstel, Jr.
Life of this patent
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Abstract
A system including a robot mean to move a member by using a first camera coupled to the robot, a second camera coupled to the robot, a control device configured to control position of the robot in order to minimize a pixel-wise distance between the member and a target based on alternating input from the first camera and the second camera.
Claims17
A system comprising:
- a robot configured to move a member;
- a first camera coupled to the robot configured to measure a first measurement between a portion of the member and a target;
- a second camera coupled to the robot configured to measure a second measurement between the portion of the member and the target;
- and
- a control device configured to control position of the robot in order to decrease the first measurement below a first selected value and the second measurement below a second selected value pixel-wise, wherein control of the position of the member occurs in a single axis at a time, wherein the control device is configured to move the member several steps at a time along a first set of axes based on input from the first camera before handing off control to the second camera, wherein the control device is configured to move the member several steps at a time along a second set of axes, different from and uncoupled relative to the first set of axes based on input from the second camera before handing off control back to the first camera.
2 more elements
A method for controlling a member robotically comprising:
- obtaining a first measurement between a portion of the member and a target with a first camera;
- articulating the member robotically until the first measurement converges the member and the target to a first selected value;
- obtaining a second measurement between the portion of the member and the target with a second camera;
- articulating the member robotically until the second measurement reaches converges the member and the target to a second selected value;
- and
- using a control device to move the member several steps at a time along a first set of axes based on input from the first camera before handing off control to the second camera and using the control device to move the member several steps at a time along a second set of axes, different from and uncoupled relative to the first set of axes based on input from the second camera before handing off control back to the first camera.
3 more elements
Dependencies are inferred from the claim text.