Method, computer program product and robot control system for the contact-based localization of objects that can be moved when manipulated by robot, and robot

US12076865B2 · kind B2 · utility

Assignee

• Siemens Aktiengesellschaft · DE

Inventors

• Bernd Kast · Ludwigshafen, DE
• Philipp Sebastian Schmitt · Munich, DE
• Florian Wirnshofer · Munich, DE

Key dates

• Filing date: May 11, 2020
• Grant date: Sep 3, 2024
• Expiry date: Oct 1, 2040

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/50391
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

At least one robot is disclosed for object manipulation, on the basis of a probabilistic approach without object detection by visual sensors, a probability distribution is determined approximately by an iterative, recursive application of a Bayes filter algorithm, wherein state transition probabilities obtained, in a nondeterministic motion model for system simulation, are multiplicatively linked with measurement probabilities obtained at the start of the application. For this purpose, a physics simulator which completely includes the physics of the system with respect to forces and dynamics and the physical system relationships resulting therefrom, and a controller, which controls the physics simulator while at the same time the simulation system state is fed back and which influences the compliance of the robot with respect to the robot-object environment on the basis of control variables, are incorporated, and measurement results of axis-specific measurements are taken into account in the measurement model for the plausibility checks.