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US 12,570,011 B2Granted
Robotic manipulator arm
AssigneeTeledyne FLIR Defense, Inc.
InventorsChristopher Thomas Brown, Jordan Daniel Jesiolowski, Elliott Forrest Leslie, Randall Miller
Life of this patent
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Abstract
A robot may include a manipulator arm including a plurality of links and one or more grippers configured to perform a gripper work. A camera may be positioned at an end of the manipulator arm to provide a direct line of sight to the grippers and observe the gripper work from above the grippers.
Claims20
A robot comprising:
- a manipulator arm comprising:
- a gripper configured to perform a gripper work;
- a first link;
- a second link rotatably connected to the first link at the first elbow joint;
- and
- a third link rotatably connected to the second link at a second elbow joint,
- wherein the gripper is positioned at the second elbow joint;
- a cable receptacle mounted on the second link of the manipulator arm to prevent one or more cables from passing over a dynamic joint of the manipulator arm, wherein the cable receptacle comprises at least one port configured to connect at least one accessory to the robot;
- a first camera positioned at an end of the third link to provide a first field-of-view comprising a direct line of sight to the gripper at the second elbow joint and observe the gripper work from above the gripper;
- a second camera positioned at the end of the second link and below the grippers, wherein the second camera provides a second field-of-view to observe the gripper work from below the grippers;
- and
- a third camera positioned proximate an end of the first link, wherein the third camera provides a third field-of-view that is wider than the second field-of-view.
9 more elements
A method comprising:
- positioning a first camera at an end of a third link of a manipulator arm to provide a first field-of-view comprising a direct line of sight to a gripper of the manipulator arm;
- positioning a second camera at the end of a second link of the manipulator arm below the gripper, wherein the second link is rotatably connected to a first link at a first elbow joint;
- positioning a third camera proximate an end of the first link of the manipulator arm, wherein the third link is rotatably connected to the second link at a second elbow joint, wherein the gripper is positioned at the second elbow joint;
- connecting, using one or more cables, at least one accessory to at least one port of a cable receptacle mounted on the second link of the manipulator arm to prevent the one or more cables from passing over a dynamic joint of the manipulator arm;
- observing, from above the gripper and by the first camera, a gripper work performed by the gripper;
- observing, from below the gripper and by the second camera, the gripper work performed by the gripper, wherein the second camera provides a second field-of-view;
- and
- observing, by the third camera, the gripper work performed by the gripper, wherein the third camera provides a third field-of-view that is wider than the second field-of-view.
5 more elements
Dependencies are inferred from the claim text.