Improvised explosive device defeat system
AssigneeHarris Corporation
InventorsMatthew D. Summer, Paul M. Bosscher, John B. Rust
Life of this patent
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Abstract
A robot system (50) includes a control system (101) having a control interface grip (102). The robot system includes a macro robotic arm (54) and a micro robotic arm (60). The robot system is arranged such that the macro robotic arm will respond, in a first control system state, to movement of the control interface grip. In particular, the macro robotic arm will move in a plurality of directions responsive to corresponding movement of the interface grip. The micro robotic arm will respond, in a second control system state, to movement of the control interface grip. In particular, the micro robotic arm will move in a plurality of directions responsive to corresponding movement of the interface grip.
Claims14
A method for performing robotic operations on a work piece, comprising:
- communicating with a macro control system to control a pose of a macro robotic arm with a proximal end coupled to a structure for sheltering an operator;
- coupling a vehicle to a distal end of said macro robotic arm opposed from the proximal end of said macro robotic arm, said vehicle having a micro robotic arm coupled thereto which is distinct from said macro robotic arm and which has motion that is controllable with greater precision as compared to a motion of said macro robotic arm;
- selectively varying said pose of said macro robotic arm to move said vehicle away from an obstacle such that said micro robotic arm may be moved into proximity of a work location;
- and
- while said micro robotic arm is at said work location, communicating with a micro control system separate from said macro control system to control a pose of said micro robotic arm.
A method for performing robotic operations on a work piece, comprising:
- communicating with a macro control system to control a pose of a macro robotic arm coupled to a structure for sheltering an operator;
- coupling an unmanned ground vehicle (“UGV”) to a distal end of said macro robotic arm, said UGV having a micro robotic arm coupled thereto which is distinct from said macro robotic arm and which has motion that is controllable with greater precision as compared to a motion of said macro robotic arm;
- selectively varying said pose of said macro robotic arm to move the UGV from a first location in which an obstacle prevents the UGV from reaching a work location to a second location in which the obstacle no longer prevents the UGV from reaching the work location;
- decoupling said UGV from said macro robotic arm when the UGV is at the second location;
- operating a motorized vehicle base of said UGV to move the UGV from said second location to a third location;
- controlling a pose of said micro robotic arm to perform a robotic task, when said UGV is at said third location.
Dependencies are inferred from the claim text.