Systems and methods for providing processing of a variety of objects employing motion planning

A method of processing objects, said method comprising:

• storing in a trajectory database a plurality of predetermined path sections for moving an end effector of an articulated arm between a base location and a destination location, the trajectory database further storing a predetermined risk factor and a predetermined time factor for each of the plurality of predetermined path sections;
• obtaining object pose information regarding an initial pose of an object presented at an input location;
• determining the destination location from among a plurality of destination locations based on the identification information obtained for the object;
• determining a grasp pose for grasping the object by the end effector;
• acquiring the object at the input location using the end effector using the grasp pose;
• selecting one of the plurality of predetermined path sections that satisfies at least one of a risk requirement and a time requirement;
• moving the acquired object along a trajectory path from the input location to the destination location via the base location using the end effector of the articulated arm, the trajectory path including the selected one of the plurality of predetermined path sections from the base location to the destination location;
• and
• placing the object at the destination location at the initial pose.

A method of processing objects, said method comprising:

• storing in a trajectory database a plurality of predetermined path sections for moving an end effector of an articulated arm between a base location and a destination location, the trajectory database further storing a predetermined risk factor and a predetermined time factor for each of the plurality of predetermined path sections;
• obtaining object pose information regarding of an object presented at an input location, said object pose information including information regarding a required orientation with respect to a vertical axis;
• determining the destination location from among a plurality of destination locations based on the identification information obtained for the object;
• determining a grasp pose for grasping the object by the end effector;
• acquiring the object at the input location using the end effector using the grasp pose;
• selecting one of the plurality of predetermined path sections that satisfies at least one of a risk requirement and a time requirement;
• and
• moving the acquired object along a trajectory path from the input location to the destination location via the base location using the end effector of the articulated arm while maintaining the object pose including the orientation with respect to the vertical axis, the trajectory path including the selected one of the plurality of predetermined path sections from the base location to the destination location.

A processing system comprising:

• a perception unit that obtains object identification information for an object at an input location, the object identification information including pose information;
• an articulated arm including an end effector configured to acquire the object based on the pose information, and move the object along a trajectory path from the input location, via a base location, to a target processing location determined from among a plurality of processing locations;
• a motion planning system including a controller and a trajectory database, the trajectory database storing a plurality of predetermined path sections between the base location and the target processing location, the trajectory database further storing a predetermined risk factor and a predetermined time factor for each of the plurality of stored path sections, wherein the controller determines the target processing location based on the identification information for the object, including the pose information, provided by the perception unit, and wherein the controller determines at least a portion of the trajectory path between the base location and the target processing location;
• and
• the target processing location including a destination surface on which the object is placed responsive to the pose information.