Intuitive grasp control of a multi-axis robotic gripper

A method for controlling a robotic gripper having a sensory matrix that includes a plurality of sensors, the method comprising:

• generating a jog signal via an interactive graphical user interface (GUI) of a grasp controller using an input from a user;
• processing the jog signal via a processor of the grasp controller;
• generating a grasp command signal via the grasp controller in response to the jog signal;
• executing a selected one of a plurality of grasp poses via the robotic gripper with respect to a component in response to the grasp command signal, including grasping the component with the robotic gripper;
• receiving sensory feedback signals from the sensory matrix during execution of the selected grasp pose;
• comparing the received sensory feedback signals via the grasp controller to a corresponding sensory map in the form of a data table, wherein the at least one sensory map provides calibrated limits for the selected grasp pose for each sensor contained in the sensory matrix;
• and
• executing a control action with respect to the robotic gripper when any of the received sensory feedback signals fall outside of their corresponding calibrated limits.

A system comprising:

• a robotic gripper having a sensory matrix that includes a plurality of sensors, including at least a plurality of force or load sensors, a weight sensor, and a heat sensor, wherein the robotic gripper includes a plurality of articulated fingers, a palm, and an opposable thumb, and is configured to execute a selected one of a plurality of grasp poses in response to a grasp command signal to thereby grasp the component;
• and
• a grasp controller in communication with the robotic gripper and configured to generate the grasp command signal, the grasp controller including:
• a touch-screen interactive graphical user interface (GUI) operable to display a jog wheel having a plurality of grasp pose icons arranged around its circumference and a neutral grasp pose icon positioned at its center or hub, wherein the GUI is configured to generate a jog signal in response to an input touch motion from a user;
• a processor;
• and
• tangible, non-transitory memory on which is recorded a plurality of different sensory maps in the form of data tables, wherein the sensory maps provide calibrated limits for a corresponding one of the plurality of grasp poses for each sensor contained in the sensory matrix;
• wherein the controller transmits the grasp command signal to the robotic gripper in response to receipt of the jog signal from the GUI and receives sensory feedback signals from the sensory matrix to thereby cause the robotic gripper to grasp the component.