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Method and apparatu for robot control

A robotics, generator technology applied in the field of robotics to solve the problems of increasing the cost, complexity and delay of assembly tasks

Pending Publication Date: 2020-03-13
THE BOEING CO
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, object recognition systems add cost, complexity and delay to assembly tasks

Method used

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  • Method and apparatu for robot control
  • Method and apparatu for robot control
  • Method and apparatu for robot control

Examples

Experimental program
Comparison scheme
Effect test

example 1

[0106] Example 1 includes an apparatus comprising a command generator for: instructing a robot to move an end effector from a temporary position to an estimated pre-task position to perform a first task based on a first pose of the robot, the second a pose based on the model; when the robot is to move to a second actual pre-task position, adjust the robot to a first actual pre-task position to perform the first task, the first actual pre-task position position close to the estimated pre-task position; and directing the robot to perform a second task based on a correction factor determined by determining a second pose of the robot, the second pose corresponding to position information associated with the robot at a post-task position corresponding to position information associated with the robot after performing the first task and based on the first pose and the second pose Compute the correction factor.

example 2

[0107] Example 2 includes the apparatus of example 1, wherein the first task includes the robot coupling a first assembly item to a second assembly item.

example 3

[0108] Example 3 includes the apparatus of Example 1 or 2, wherein the first pose is a first homogeneous matrix and the second pose is a second homogeneous matrix, and the second homogeneous matrix is ​​obtained by combining the second homogeneous matrix with the The inverse of the first homogeneous matrix is ​​multiplied to calculate the correction factor.

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Abstract

The present invention relates to a method and an apparatus for robot control, and discloses a method, an apparatus, a system, and an article of manufacture for robot control. An example apparatus includes a command generator to instruct a robot to move an end effector from a staging position to an estimated pre-task position to perform a first task based on a first pose of the robot, the first pose based on a model, adjust the robot to a first actual pre-task position to perform the first task when the robot is to move to a second actual pre-task position, the first actual pre-task position proximate the estimated pre-task position, and direct the robot to perform a second task based on a correction factor, the correction factor is to be determined by determining a second pose of the robot, the second pose corresponding to position information associated with a post-task position, and calculating the correction factor based on the first pose and the second pose.

Description

technical field [0001] The present disclosure relates generally to robots, and more particularly to methods and apparatus for robot control. Background technique [0002] Object recognition systems are being deployed in a range of applications and corresponding devices. Devices such as collaborative robots can use object recognition systems to perform tasks related to assembly or manufacturing. Object recognition systems can guide robotic arms and end effectors to designated locations for assembly tasks. However, object recognition systems add cost, complexity and delay to assembly tasks. Contents of the invention [0003] Systems, methods, devices and articles of manufacture for robot control are disclosed. [0004] An example apparatus disclosed herein includes a command generator for: instructing / instructing a robot to move an end effector from a staging position to an estimated pre-task position to perform based on a first pose of the robot A first task, the first ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1687B25J9/1602B25J9/1664G05B2219/45064B25J9/1605B25J9/163B25J9/1679
Inventor T·库尔茨E·霍伊纳奇
Owner THE BOEING CO