Part forming using intelligent robotic system
AssigneeMachina Labs, Inc.
InventorEdward Mehr
Life of this patent
Estimating the term…
Abstract
A system forms a part in an initial geometry (e.g., a sheet) into a desired geometry. The system includes a robot arm with an end effector, a model and a controller. The model receives an input geometry and an input parameter value indicating an interaction between the part and the end effector. The model determines an output geometry of the part based on the input geometry and the input parameter value. The controller receives the initial and desired geometries; applies the model to the initial geometry and to different input parameter values; based on output geometries of the model, determines a set of parameter values for controlling the robot arm; and controls the robot arm according to the determined set of parameter values to form the part into the desired geometry using the end effector.
Claims20
A system configured to form a sheet in an initial geometry into a desired geometry different than the initial geometry, the system comprising:
- a robot arm with an end effector;
- a model configured to:
- receive an input geometry of the sheet;
- receive an input parameter value indicating a first interaction between the sheet and the end effector, the first interaction including the end effector performing at least one of:
- bending, pinching, seaming, or stretching a portion of the sheet by being pressed into the portion of the sheet;
- and
- determine an output geometry of the sheet based on the input geometry and the input parameter value;
- and
- a controller coupled to the robot arm and the model, the controller configured to:
- (i) receive the initial geometry of the sheet and the desired geometry of the sheet;
- (ii) apply the model to the initial geometry and to different input parameter values;
- (iii) determine, based on output geometries of the model, a set of one or more parameter values for controlling the robot arm;
- and
- (iv) control the robot arm according to the determined set of one or more parameter values to form the sheet into the desired geometry using the end effector.
A method of controlling a robot arm with an end effector to form a sheet in an initial geometry into a desired geometry different than the initial geometry, the method comprising:
- receiving the initial geometry of the sheet and the desired geometry of the sheet;
- applying a model to the initial geometry and to input parameter values, the model configured to:
- receive an input geometry of the sheet;
- receive an input parameter value indicating an interaction between the sheet and the end effector, the interaction including the end effector performing at least one of:
- bending, pinching, seaming, or stretching a portion of the sheet by being pressed into the portion of the sheet;
- and
- determine an output geometry of the sheet based on the input geometry and the input parameter value;
- based on output geometries of the model, determining a set of one or more parameter values for controlling the robot arm;
- and
- controlling the robot arm according to the determined set of one or more parameter values to form the sheet into the desired geometry using the end effector.
A non-transitory computer-readable storage medium comprising stored instructions that, when executed by a computing device, cause the computing device to perform operations comprising:
- receiving an initial geometry of a sheet and a desired geometry of the sheet;
- applying a model to the initial geometry and to input parameter values, the model configured to:
- receive an input geometry of the sheet;
- receive an input parameter value indicating an interaction between the sheet and an end effector coupled to a robot arm, the interaction including the end effector performing at least one of:
- bending, pinching, seaming, or stretching a portion of the sheet by being pressed into the portion of the sheet;
- and
- determine an output geometry of the sheet based on the input geometry and the input parameter value;
- based on output geometries of the model, determining a set of one or more parameter values for controlling the robot arm;
- and
- controlling the robot arm according to the determined set of one or more parameter values to form the sheet into the desired geometry using the end effector.
Dependencies are inferred from the claim text.