Method for dynamically controlling a robotic arm
AssigneeGM Global Technology Operations LLC
InventorJianying Shi
Life of this patent
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Abstract
A method for maneuvering an articulable robotic arm includes monitoring a position of a dynamically moveable workpiece. Individual motion segments are iteratively executed to control the articulable robotic arm to position the end-of-arm tool contiguous to the workpiece and corresponding to an initial position of the end-of-arm tool, an initial position of the workpiece and an iteratively determined updated position of the workpiece.
Claims12
A method for maneuvering an articulable robotic arm having an end-of-arm tool, comprising:
- monitoring a position of a moving workpiece;
- determining an initial position of the moving workpiece;
- determining an initial position of the end-of-arm tool;
- iteratively determining an updated position of the moving workpiece corresponding to the monitored position of the moving workpiece;
- and
- while the moving workpiece is not engaged to the end-of-arm tool, iteratively executing individual motion segments to control the articulable robotic arm to position the end-of-arm tool contiguous to the moving workpiece until the end-of-arm tool engages the moving workpiece at the iteratively determined updated position of the moving workpiece based upon the initial position of the end-of-arm tool and the initial position of the moving workpiece.
A method for maneuvering an articulable robotic arm signally connected to a three-dimensional position sensing device, the robotic arm having an end-of-arm tool operable to interact with a malleable workpiece, the method comprising:
- monitoring a position of the malleable workpiece with the three-dimensional position sensing device and iteratively generating sensor data streams, each sensor data stream corresponding to a position of the malleable workpiece updated after an elapsed time period;
- determining an initial position of the end-of-arm tool of the articulable robotic arm;
- defining a first trajectory corresponding to a spatial difference between the initial position of the end-of-arm tool and the initial position of the malleable workpiece;
- and
- while the malleable workpiece is not engaged to the end-of-arm tool, iteratively executing individual motion segments to control the articulable robotic arm to position the end-of-arm tool contiguous to the malleable workpiece until the end-of-arm tool engages the malleable workpiece at an updated position of the moving workpiece and responsive to the first trajectory.
A method for maneuvering an articulable robotic arm having an end-of-arm tool and signally connected to a three-dimensional position sensing device configured to monitor position of a moving workpiece and generate a sensor data stream, comprising:
- determining a first position of the moving workpiece and determining a first position of the end-of-arm tool of the articulable robotic arm;
- iteratively generating an updated sensor data stream corresponding to an updated position of the moving workpiece after an elapsed time period;
- iteratively determining a correction to the first position of the moving workpiece associated with the updated sensor data stream corresponding to the updated position of the moving workpiece after the elapsed time period;
- and
- while the moving workpiece is not engaged to the end-of-arm tool, iteratively executing individual robotic motion segments to position the end-of-arm tool contiguous to the moving workpiece until the end-of-arm tool engages the moving workpiece at the updated position of the moving workpiece, said robotic motion segments responsive to the first position of the end-of-arm tool and the first position of the moving workpiece.
Dependencies are inferred from the claim text.