Systems and methods for control of robotic manipulation

US10471595B2 · kind B2 · utility

Assignee

• GE Global Sourcing LLC · US

Inventors

• Huan Tan · Pasadena, US
• Balajee Kannan · Niskayuna, US
• Yonatan Gefen · Niskayuna, US
• Romano Patrick · Niskayuna, US
• Omar Al Assad · Niskayuna, US
• Douglas Forman · Niskayuna, US
• Charles Burton Theurer · Niskayuna, US
• John Michael Lizzi · Saratoga Springs, US

Key dates

• Filing date: Oct 14, 2016
• Grant date: Nov 12, 2019
• Expiry date: Jun 7, 2037

Classification

• Technology area (CPC G): Physics
• CPC primary: G05D1/0251
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A robot system is provided that includes a base, an articulable arm, a visual acquisition unit, and at least one processor. The articulable arm extends from the base and is configured to be moved toward a target. The visual acquisition unit is mounted to the arm or the base, and acquires environmental information. The at least one processor is operably coupled to the arm and the visual acquisition unit, the at least one processor configured to: generate an environmental model using the environmental information; select, from a plurality of planning schemes, using the environmental model, at least one planning scheme to translate the arm toward the target; plan movement of the arm toward the target using the selected at least one planning scheme; and control movement of the arm toward the target using the at least one selected planning scheme.