Robotic arm and control system
US8082064B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Nov 13, 2007 |
| Grant date | Dec 20, 2011 |
| Priority date | — |
| Expiry date | Aug 24, 2030 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40623
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robotic arm and control system includes a robotic arm which moves in response to one or more command signals. One or more “active” fiducials are located on the arm, each of which emits its own light. A 3D camera having an associated field-of-view is positioned such that at least one fiducial and a target object to be manipulated are in the FOV. To determine their spatial positions, the arm fiducials are activated and the target object is preferably illuminated with a scanning laser; the camera produces output signals which vary with the spatial locations of the fiducials and target object. A controller receives the output signals and uses the spatial position information as feedback to continuously guide the arm towards the target object. Multiple active fiducials may be employed, each having respective characteristics with which they can be differentiated.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.