System and method for robust pivoting for re-orienting parts during robotic assembly
US12397425B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 18, 2022 |
| Grant date | Aug 26, 2025 |
| Priority date | — |
| Expiry date | Apr 28, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/50391
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A manipulation controller is provided for reorienting an object by a manipulator of a robotic system. The manipulation controller includes an interface controller configured to acquire measurement data from sensors arranged on the robotic system, at least one processor, and a memory configured to store a computer-implemented method. The instructions of the method include acquiring measurement data from vision sensors and force sensors arranged on the robotic system, determining an input-output relation for the object based on a nonlinear static model representing input-output relationships between contact forces and movements of the object on the workbench, representing interaction between the object and the manipulator using complementarity constraints to capture the contact state between the object and the manipulator, formulating a representation for frictional stability of the object based on the non-linear static model at the external contacts with the workbench; formulating a bilevel optimization problem so as to maximize the frictional stability over a position trajectory of the object being manipulated on the workbench, estimating uncertainty value in physical parameters to…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.