Anti-sway control for a robotic arm with adaptive grasping

A method, comprising:

• determining at least one of a size, shape, or orientation of a package to be picked up by an end effector of a robotic arm;
• adjusting a position of a suction cup on the end effector to grasp the package by linearly moving the suction cup from an initial position on a rail associated with the end effector to a predetermined end position on the rail associated with the end effector;
• determining a path for the robotic arm to move based on one or more trajectory parameters, wherein the robotic arm transports the package grasped via the end effector;
• and
• controlling movement of the end effector via a robotic joint to reduce force on the suction cup by the package due to an acceleration of the package during movement of the robotic arm along a trajectory of the path, wherein the controlling movement of the end effector via the robotic joint further comprises oscillating the package in an opposite direction of trajectory motion to counter a force due to movement of the robotic arm.

A robotic arm apparatus for grasping and moving a package, the robotic arm apparatus comprising:

• an arm having a first joint;
• and
• an end effector coupled to the first joint, the end effector comprising a fixed suction cup, one or more rails, and at least one movable suction cup,
• wherein the fixed suction cup is fixed relative to the one or more rails and each of the at least one movable suction cup is movable relative to the one or more rails,
• wherein each of the at least one movable suction cup is moveably attached to the one or more rails such that each movable suction cup can move along the one or more rails, and
• wherein the arm is configured to control movement of the end effector via the first joint to reduce an acceleration of the package due to movement of the arm along a path, wherein the controlling movement of the end effector via the first joint further comprises oscillating the package in an opposite direction of trajectory motion to counter a force due to movement of the arm.