Locating and attaching interchangeable tools in-situ

US11597085B2 · kind B2 · utility

Assignee

• The Charles Stark Draper Laboratory, Inc. · US

Inventors

• David M. S. Johnson · Wilmington, US
• Syler Wagner · Somerville, US
• Justin Rooney · New York, US
• Steven Lines · Brookline, US
• Anthony Tayoun · Cambridge, US
• Mitchell Hebert · Littleton, US

Key dates

• Filing date: Sep 13, 2019
• Grant date: Mar 7, 2023
• Expiry date: Sep 24, 2039

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/49157
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

Current technologies allow a robot to acquire a tool only if the tool is in a set known location, such as in a rack. In an embodiment, a method and corresponding system, can determine the previously unknown pose of a tool freely placed in an environment. The method can then calculate a trajectory that allows for a robot to move from its current position to the tool and attach with the tool. In such a way, tools can be located and used by a robot when placed at any location in an environment.