Object Grasp System and Method

A method for grasping an object with a gripper disposed on a distal end of a robotic arm assembly, the method comprising:

• determining a spatial position of an object relative to a fixed frame of reference using a fixed sensor;
• determining a position of a gripper attached to a distal end of a robotic arm relative to the object using the fixed sensor;
• activating the robotic arm to move the gripper into a grasping position relative to a first object;
• grasping the first object with the gripper;
• evaluating a quality of the grasp using an onboard sensor associated with the robotic arm;
• and
• adjusting the grasping position relative to a second object based on the evaluation of the quality of the grasp of the first object;
• wherein adjusting the grasping location is performed automatically by a controller based on information provided by the fixed sensor and the onboard sensor.

A robotic arm having a gripper disposed on a distal end thereof, the robotic arm operating to move the gripper relative to a fixed frame of reference, the gripper adapted to grasp an object disposed in a grasping area that is stationary relative to the fixed frame of reference, the robotic arm further comprising:

• a fixed camera disposed to monitor the area, the fixed camera disposed stationary relative to the fixed frame of reference, the fixed camera providing visual information indicative of a position of the object relative to the area;
• an onboard camera disposed to move with the gripper on the distal end of the robotic arm, the onboard camera disposed to monitor the area, the onboard camera providing visual information indicative of a position of the object relative to the gripper;
• a force/torque sensor disposed on the gripper between the gripper and the distal end of the robotic arm assembly;
• and
• a controller operably associated with the robotic arm and the gripper, the controller operating to control operation of the robotic arm and the gripper;
• the controller further operably associated with the fixed camera, the onboard camera, and the force/torque sensor, the controller disposed to receive information therefrom indicative of:
• a position of the object and the gripper with respect to the fixed frame from the fixed camera,
• a position of the object relative to the gripper from the onboard camera, and
• one or more forces and one or more moments present at the distal end by the gripper while the object is grasped by the gripper from the force/torque sensor;
• the controller being programmed to:
• operate the robotic arm assembly to bring the gripper into a grasp position adjacent the object based on information provided by the fixed camera;
• operate the gripper to grasp the object in response to information provided by the onboard camera;
• automatically select a grasp location on the object, which is engaged by the gripper, based on the information provided to the controller by the force/torque sensor;
• and
• estimate a location of a center of gravity of the object based on the information provided to the controller by the force/torque sensor.