EP3972787A4 - Robotersicht - Google Patents

Robotersicht Download PDF

Info

Publication number
EP3972787A4
EP3972787A4 EP20861193.9A EP20861193A EP3972787A4 EP 3972787 A4 EP3972787 A4 EP 3972787A4 EP 20861193 A EP20861193 A EP 20861193A EP 3972787 A4 EP3972787 A4 EP 3972787A4
Authority
EP
European Patent Office
Prior art keywords
robotic vision
robotic
vision
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP20861193.9A
Other languages
English (en)
French (fr)
Other versions
EP3972787A1 (de
Inventor
Philipp Schoessler
Thibault Neveu
Dane Mason
Kathleen Sofia Hajash
Brian Thomas Harms
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Samsung Electronics Co Ltd
Original Assignee
Samsung Electronics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US16/792,009 external-priority patent/US11433545B2/en
Application filed by Samsung Electronics Co Ltd filed Critical Samsung Electronics Co Ltd
Publication of EP3972787A1 publication Critical patent/EP3972787A1/de
Publication of EP3972787A4 publication Critical patent/EP3972787A4/de
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39017—Forward calibration, find actual pose world space for given joint configuration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39057—Hand eye calibration, eye, camera on hand, end effector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39393—Camera detects projected image, compare with reference image, position end effector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39397—Map image error directly to robot movement, position with relation to world, base not needed, image based visual servoing

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Image Analysis (AREA)
EP20861193.9A 2019-09-03 2020-06-01 Robotersicht Pending EP3972787A4 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201962895310P 2019-09-03 2019-09-03
US16/792,009 US11433545B2 (en) 2019-02-17 2020-02-14 Robotic vision
PCT/KR2020/007081 WO2021045350A1 (en) 2019-09-03 2020-06-01 Robotic vision

Publications (2)

Publication Number Publication Date
EP3972787A1 EP3972787A1 (de) 2022-03-30
EP3972787A4 true EP3972787A4 (de) 2022-07-27

Family

ID=74853400

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20861193.9A Pending EP3972787A4 (de) 2019-09-03 2020-06-01 Robotersicht

Country Status (2)

Country Link
EP (1) EP3972787A4 (de)
WO (1) WO2021045350A1 (de)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12070857B2 (en) 2022-03-21 2024-08-27 Intrinsic Innovation Llc Robot programming

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018236753A1 (en) * 2017-06-19 2018-12-27 Google Llc PREDICTION OF ROBOTIC SEIZURE USING NEURAL NETWORKS AND A GEOMETRY-SENSITIVE REPRESENTATION OF OBJECT

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2661538T3 (es) * 2013-06-12 2018-04-02 Otto Bock Healthcare Gmbh Control de dispositivo de extremidad
US9327406B1 (en) * 2014-08-19 2016-05-03 Google Inc. Object segmentation based on detected object-specific visual cues
JP6548422B2 (ja) * 2015-03-27 2019-07-24 キヤノン株式会社 情報処理装置、情報処理方法、プログラム
US9687983B1 (en) * 2016-05-11 2017-06-27 X Development Llc Generating a grasp pose for grasping of an object by a grasping end effector of a robot

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018236753A1 (en) * 2017-06-19 2018-12-27 Google Llc PREDICTION OF ROBOTIC SEIZURE USING NEURAL NETWORKS AND A GEOMETRY-SENSITIVE REPRESENTATION OF OBJECT

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
BOHG JEANNETTE ET AL: "Robot arm pose estimation through pixel-wise part classification", 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 31 May 2014 (2014-05-31), pages 3143 - 3150, XP032650930, DOI: 10.1109/ICRA.2014.6907311 *
See also references of WO2021045350A1 *

Also Published As

Publication number Publication date
EP3972787A1 (de) 2022-03-30
WO2021045350A1 (en) 2021-03-11

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