Compliant payload presentation using robotic system with coordinated serial and parallel robots
US11638995B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 6, 2021 |
| Grant date | May 2, 2023 |
| Priority date | — |
| Expiry date | Jan 12, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39552
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robotic system for presenting a payload within a workspace includes a pair of serial robots configured to connect to the payload, a parallel robot coupled to a distal end of one of the serial robots such that the parallel robot is disposed between the distal end and the payload, a sensor situated within a kinematic chain extending between the distal end and the payload, and a robot control system (RCS). The sensor outputs a sensor signal indicative of a measured property of the payload. The RCS includes a coordinated motion controller configured to control the serial robots, and a corrective motion controller configured to control the parallel robot. Parallel robot control occurs in response to the sensor signal concurrently with control of the serial robots in order to thereby modify the property of the payload in real-time.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.