Robotic transport system and method therefor

A method for robotic transport system comprising:

• providing a frame of a robotic transport system;
• providing a drive section connected to the frame;
• providing an articulated arm operably coupled to the drive section providing the articulated arm with arm motion in at least one axis of motion moving at least a portion of the articulated arm in a collaborative space, corresponding to the frame, from a first location, in which the articulated arm has a first shape, to another different location of at least the portion of the articulated arm in the collaborative space in which the articulated arm has another different shape;
• generating an electromagnetic affection envelope with a network of electromagnetic sounding waves from electromagnetic emitters on the articulated arm so that contours, of the electromagnetic affection envelope, set at a predetermined range limit from the articulated arm are defined dynamically by the articulated arm and substantially correspond to each different arm shape of the articulated arm with one or more of
• at least the portion of the articulated arm moving from the first location to the other different location, and
• the articulated arm changing shape from the first shape to the other different shape;
• and
• commanding a change in at least one predetermined characteristic of the arm motion, with a controller communicably connected to the drive section, in response to detection of entry of a collaborative object, due at least in part to motion of at least the portion of the articulated arm, through the contours into the electromagnetic affection envelope, the controller.

A method for robotic transport system comprising:

• providing a frame of a robotic transport system;
• providing a drive section connected to the frame;
• providing an articulated arm operably coupled to the drive section providing the articulated arm with arm motion in at least one axis of motion moving at least a portion of the articulated arm in a collaborative space, corresponding to the frame, from a first location, to another different location of at least the portion of the articulated arm in the collaborative space;
• providing a multitude of millimeter wave radar sensors distributed on at least the portion of the articulated arm and oriented so as to radar sound the collaborative space in each direction, away from the articulated arm, substantially aligned with each direction component of motion of each of at least the portion of the articulated arm moving from the first location to the other different location;
• and
• selectably activating, with a controller communicably connected to the millimeter wave radar sensors, the millimeter wave radar sensors and selecting a radar emission direction from a number of independently selectable radar emission directions defined by the millimeter wave radar sensors based on at least one direction component of motion of at least the portion of the articulated arm moving, and configured so that in response to detection, from radar emission by selected ones of the millimeter wave radar sensors, of approach of an object, in the collaborative space relative to at least the portion of the articulated arm moving, command the drive section affecting a predetermined kinematic or dynamic characteristic of motion of at least the portion of the articulated arm moving.