MX2022004123A - Deteccion de deslizamiento del agarre robotico. - Google Patents

Deteccion de deslizamiento del agarre robotico.

Info

Publication number
MX2022004123A
MX2022004123A MX2022004123A MX2022004123A MX2022004123A MX 2022004123 A MX2022004123 A MX 2022004123A MX 2022004123 A MX2022004123 A MX 2022004123A MX 2022004123 A MX2022004123 A MX 2022004123A MX 2022004123 A MX2022004123 A MX 2022004123A
Authority
MX
Mexico
Prior art keywords
grasp
item
slippage
end effector
robotic arm
Prior art date
Application number
MX2022004123A
Other languages
English (en)
Inventor
Samir Menon
Zhouwen Sun
Harry Zhe Su
Original Assignee
Dexterity Inc
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
Application filed by Dexterity Inc filed Critical Dexterity Inc
Publication of MX2022004123A publication Critical patent/MX2022004123A/es

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/082—Grasping-force detectors
    • B25J13/083—Grasping-force detectors fitted with slippage detectors
    • 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
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/084—Tactile sensors
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • 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
    • G05B2219/39507—Control of slip motion
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40143—Slip, texture sensation feedback, by vibration stimulation of fingers
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40155—Purpose is grasping objects
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40567—Purpose, workpiece slip sensing
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40625—Tactile sensor

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)

Abstract

Se configura una pluralidad de sensores para generar salidas respectivas que reflejan un valor detectado asociado con el acoplamiento de un efector final de brazo robótico con un artículo. Se usan las salidas correspondientes de uno o más sensores que comprenden la pluralidad de sensores para determinar una o más entradas a un modelo multimodal configurado para generar una salida asociada con el deslizamiento del artículo dentro o desde un agarre del efector final de brazo robótico, basándose al menos en parte en una o más entradas. Se realiza una determinación asociada con el deslizamiento del articulo dentro o fuera del agarre del efector final del brazo robótico basándose, al menos en parte, en una salida del modelo multimodal. Se toma una acción de respuesta basada al menos en parte en la determinación asociada con el deslizamiento del artículo dentro o fuera del alcance del efector final del brazo robótico.
MX2022004123A 2019-10-25 2020-09-25 Deteccion de deslizamiento del agarre robotico. MX2022004123A (es)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201962926162P 2019-10-25 2019-10-25
US17/029,418 US11772262B2 (en) 2019-10-25 2020-09-23 Detecting slippage from robotic grasp
PCT/US2020/052660 WO2021080730A1 (en) 2019-10-25 2020-09-25 Detecting slippage from robotic grasp

Publications (1)

Publication Number Publication Date
MX2022004123A true MX2022004123A (es) 2022-06-24

Family

ID=75585011

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2022004123A MX2022004123A (es) 2019-10-25 2020-09-25 Deteccion de deslizamiento del agarre robotico.

Country Status (8)

Country Link
US (2) US11772262B2 (es)
EP (1) EP4048480A4 (es)
JP (1) JP7447246B2 (es)
KR (1) KR20220066381A (es)
CN (1) CN114585479A (es)
CA (1) CA3155340A1 (es)
MX (1) MX2022004123A (es)
WO (1) WO2021080730A1 (es)

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Also Published As

Publication number Publication date
WO2021080730A1 (en) 2021-04-29
JP2022552629A (ja) 2022-12-19
US20210122039A1 (en) 2021-04-29
CA3155340A1 (en) 2021-04-29
EP4048480A1 (en) 2022-08-31
CN114585479A (zh) 2022-06-03
JP7447246B2 (ja) 2024-03-11
EP4048480A4 (en) 2023-11-15
US11772262B2 (en) 2023-10-03
KR20220066381A (ko) 2022-05-24
US20240033906A1 (en) 2024-02-01

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