Software compensated robotics
AssigneeSanctuary Cognitive Systems Corporation
InventorAdrian Kaehler
Life of this patent
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Abstract
A software compensated robotic system makes use of recurrent neural networks and image processing to control operation and/or movement of an end effector. Images are used to compensate for variations in the response of the robotic system to command signals. This compensation allows for the use of components having lower reproducibility, precision and/or accuracy that would otherwise be practical.
Claims17
A robotic system comprising:
- an end effector;
- a movement generation device configured to move the end effector;
- a camera configured to generate images of the end effector;
- and
- a computer vision software pipeline configured to:
- generate first control signals, the first control signals being configured to generate an expected movement of the end effector;
- receive a first image of a portion of an environment including the end effector, the first image showing a response of the robotic system to the first control signals;
- change a state in the computer vision software pipeline responsive to the first image and the expected movement;
- generate second control signals for the end effector;
- compensate the second control signals to produce compensated control signals, the compensation being responsive to the changed state in the computer vision software pipeline, the compensation being configured to reduce a difference between the expected movement and a movement of the end effector indicated by the image;
- and
- move the end effector based on the compensated control signals.
A method of calibrating a robotic system, the method comprising:
- generating first control signals, the first control signals being configured to generate an expected movement of an end effector of the robotic system;
- receiving a first image of a portion of an environment including the end effector, the first image showing a response of the robotic system to the first control signals;
- changing a state in a computer vision software pipeline responsive to the first image and the expected movement;
- generating second control signals for the end effector;
- compensating the second control signals to produce compensated control signals, the compensation being responsive to the changed state in the computer vision software pipeline, the compensation being configured to reduce a difference between the expected movement and a movement of the end effector indicated by the image;
- and
- moving the end effector based on the compensated control signals.
A computer vision software pipeline comprising one or more non-transitory computer-readable storage media storing computer-executable instructions for causing a robotic system to perform operations comprising:
- generating first control signals, the first control signals being configured to generate an expected movement of an end effector of the robotic system;
- receiving a first image of a portion of an environment including the end effector, the first image showing a response of the robotic system to the first control signals;
- changing a state in a computer vision software pipeline responsive to the first image and the expected movement;
- generating second control signals for the end effector;
- compensating the second control signals to produce compensated control signals, the compensation being responsive to the changed state in the computer vision software pipeline, the compensation being configured to reduce a difference between the expected movement and a movement of the end effector indicated by the image;
- and
- moving the end effector based on the compensated control signals.
Dependencies are inferred from the claim text.