Robotic systems for loading and unloading trucks and other containers

Abstract

A robotic system is disclosed that includes a robotic arm having n degrees of freedom, the robotic arm comprising a base and a set of continuously connected links and joints connected to the base, an enabler joint assembly comprising a mounting point on which the base of the robotic arm is mounted and having an axis of rotation offset from the mounting point and about which the enabler joint assembly is configured to rotate the mounting point, and a processor configured to control a first set of motors associated with the n degrees of freedom of the robotic arm and enabler joint motors that constitute the enabler joint assembly to control movement of the robotic arm within an extended working space defined at least in part by the n degrees of freedom of the robot arm and a (n+1)th degree of freedom provided by the enabler joint assembly.

Description

CROSS-REFERENCE TO OTHER APPLICATIONS

[0001] This application claims priority to U.S. Provisional Patent Application No. 63 / 310,027, filed February 14, 2022, entitled "ROBOTIC SYSTEM TO LOAD AND UNLOAD TRUCKS AND OTHER CONTAINERS," which is incorporated by reference herein for all purposes. [Background technology]

[0002] Industrial robots are designed to include a certain number of degrees of freedom (DOF). A common example is a six-DOF robotic arm. Such an arm may have two degrees of freedom (pitch / bend and roll) at / near each of three joints: a joint near the base sometimes referred to as a "shoulder" joint, an "elbow" joint connected to the shoulder joint by a first link, and a "wrist" joint connected to the elbow joint by a second link and at the distal end to a grabber, hand, or robotic end effector such as a claw or suction-type end effector.

[0003] Industrial robots, such as a six degree of freedom robotic arm, are typically equipped with a controller configured to receive commands and convert those commands into a set and / or sequence of control signals for the motor controllers associated with each joint and / or degree of freedom. The motor controllers provide current to the respective motors to move the robot arm in response to the commands.

[0004] An industrial robot, such as a six degree of freedom robot arm, is typically constrained by its physical configuration, environment and control software to operate within an operationally available space that is limited by its reach and the poses and orientations it can support. Summary of the Invention

[0005] Various embodiments of the invention are disclosed in the following detailed description and the accompanying drawings. [Brief description of the drawings]

[0006] [Figure 1A] FIG. 1 illustrates an embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0007] [Figure 1B] FIG. 1 illustrates an embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0008] [Figure 2A] FIG. 1 illustrates an embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0009] [Figure 2B] FIG. 1 illustrates an embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0010] [Figure 3A] FIG. 1 illustrates an embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0011] [Figure 3B] FIG. 1 illustrates an embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0012] [Figure 4A] FIG. 1 illustrates an embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0013] [Figure 4B]FIG. 1 illustrates an embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0014] [Figure 5A] FIG. 1 illustrates an embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0015] [Figure 5B] FIG. 1 illustrates an embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0016] [Figure 6A] FIG. 1 illustrates an embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0017] [Figure 6B] FIG. 1 illustrates an embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0018] [Figure 6C] FIG. 1 illustrates an embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0019] [Figure 7A] FIG. 1 illustrates a rear view of an embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0020] [Figure 7B] FIG. 1 illustrates a top view of an embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0021] [Figure 7C]FIG. 1 illustrates a top view of an embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0022] [Figure 8A] FIG. 1 illustrates an embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0023] [Figure 8B] FIG. 1 illustrates an embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0024] [Figure 9A] FIG. 1 illustrates an embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0025] [Figure 9B] FIG. 1 illustrates an embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0026] [Figure 9C] FIG. 1 illustrates an embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0027] [Figure 10A] FIG. 1 is a block diagram illustrating one embodiment of a control architecture for a robotic system having a robotic arm and a robotically controlled enabler joint.

[0028] [Figure 10B] FIG. 1 is a block diagram illustrating one embodiment of a control architecture for a robotic system having a robotic arm and a robotically controlled enabler joint.

[0029] [Figure 11]FIG. 1 is a flow diagram illustrating one embodiment of a process for controlling a robotic system that includes a robotic arm and a robotically controlled enabler joint.

[0030] [Figure 12A] FIG. 1 illustrates an embodiment of a robotically controlled guidance mechanism.

[0031] [Figure 12B] FIG. 1 illustrates an embodiment of a robotically controlled guidance mechanism.

[0032] [Figure 13A] FIG. 1 illustrates an embodiment of a robotically controlled guidance mechanism.

[0033] [Figure 13B] FIG. 1 illustrates an embodiment of a robotically controlled guidance mechanism.

[0034] [Figure 14A] FIG. 1 illustrates an embodiment of a robotically controlled guidance mechanism.

[0035] [Figure 14B] FIG. 1 illustrates an embodiment of a robotically controlled guidance mechanism.

[0036] [Figure 15] FIG. 1 illustrates an embodiment of a robotically controlled system for diverting and reordering items.

[0037] [Figure 16A] FIG. 1 illustrates an embodiment of a robotically controlled loading system for loading trucks or other containers.

[0038] [Figure 16B] FIG. 1 illustrates an embodiment of a robotically controlled loading system for loading trucks or other containers.

[0039] [Figure 16C] FIG. 1 illustrates an embodiment of a robotically controlled loading system for loading trucks or other containers.

[0040] [Figure 17] FIG. 1 illustrates an embodiment of a robotically controlled loading system for loading trucks or other containers. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0041] The present invention may be implemented in numerous ways, including as a process, an apparatus, a system, a composition, a computer program product embodied in a computer-readable storage medium, and / or a processor, such as a processor configured to execute instructions stored in and / or provided by a memory coupled to the processor. These implementations, or any other form the present invention may take, may be referred to herein as techniques. In general, the order of steps of a disclosed process may be modified within the scope of the present invention. Unless otherwise specified, components such as a processor or memory described as being configured to perform a task may be implemented as general components that are temporarily configured to perform that task at a given time, or as specific components manufactured to perform that task. As used herein, the term "processor" refers to one or more devices, circuits, and / or processing cores that are configured to process data, such as computer program instructions.

[0042] A detailed description of one or more embodiments of the present invention is provided below along with the accompanying drawings illustrating the principles of the invention. While the present invention will be described in connection with such embodiments, the present invention is not limited to any embodiment. The scope of the present invention is limited only by the claims, and the present invention encompasses numerous alternatives, modifications, and equivalents. Numerous specific details are set forth in the following description in order to provide a thorough understanding of the present invention. These details are provided for the purpose of example, and the present invention may be practiced according to the claims without some or all of these specific details. For purposes of clarity, technical material known in the art related to the present invention has not been described in detail so as not to unnecessarily obscure the present invention.

[0043] Techniques are disclosed for extending the operational reach and performance of a robot, such as a robot arm, by incorporating additional joints, sometimes referred to herein as "enabler" joints, to provide additional degrees of freedom, further reach, and / or additional flexibility. In various embodiments, the additional degrees of freedom are provided about axes that are neither at 0° nor perpendicular to the longitudinal (e.g., roll) axis of the robot's base. In some embodiments, the enabler joints are controlled by a controller that is separate from, but operated in conjunction with, the robot controller of the robot arm (or other robot). In some embodiments, an integrated controller is provided and used that jointly controls the enabler joints and the robot joints and controls the respective motor controllers to jointly move the enabler joints and other joints to move the robot through trajectories in the enabler joint-expanded operational space that can be reached by the robot.

[0044] FIG. 1A illustrates an embodiment of a robotic system including a robotic arm and a robotically controlled enabler joint. In the illustrated example, the robotic system 100 includes a robotically controlled moveable chassis 102 with a robotically controlled conveyor 104 mounted to the moveable chassis 102 along a central longitudinal axis of the chassis 102. The robotic arm 106 is rotatably mounted to the chassis 102 via an enabler joint including a transmission plate 108 and an enabler joint base 110 that is fixedly mounted to the chassis 102. In various embodiments, as described further below, the enabler joint further includes a robotically controlled enabler joint motor, not shown in FIG. 1A, and an associated motor controller configured to be used to rotate the transmission plate 108 about the enabler joint's axis of rotation.

[0045] In the illustrated example, the robotic arm 106 includes a base and shoulder joint 106a, an upper arm or upper link 106b, an elbow joint 106c, a forearm (lower link) 106d, a wrist joint 106e, and an end effector connector link 106f. In some embodiments, the robotic arm 106 includes a six degree of freedom robotic arm, including a waist joint (rotation of the base 106a about an axis substantially perpendicular to the mounting plane of the base 106a), a shoulder joint with the base 106a (bending about the shoulder joint's axis of rotation), bending and rotational degrees of freedom associated with the elbow joint 106c and / or the forearm 106d, and bending and rotational (or yaw) degrees of freedom associated with the wrist joint 106e and / or the link 106f.

[0046] 1A and described in the previous paragraph, the robot arm includes a base and two links connected in series by a robotically actuated joint, each having two degrees of freedom, although in other embodiments the robot arm may have more or fewer links, joints, and / or degrees of freedom. Each degree of freedom of a robot arm, such as robot arm 106, is sometimes referred to as the robot arm's n degrees of freedom, which represents the degrees of freedom provided by each joint and / or link of a given robot arm.

[0047] 1A, in the illustrated example, the robotic arm 106 has a robotically controlled end effector 112, in this case attached via wrist link 106f to the free-moving operational end of the robotic arm 106. The end effector 112 may be any type of end effector suitable for a given robotic task or application, such as a grabber, hand, suction-based grabber, or any other type of tool or manipulator.

[0048] 1A , controls one or more of the chassis 102, conveyor 104, robotic arm 106, enabler joints 108, 110, and end effector 112, either alone or in combination (e.g., simultaneously), to perform a task or set of tasks associated with a robotic "application" for which the robotic system 100 is deployed and configured to function. Examples include, without limitation, loading or unloading trucks or other containers, stacking or removing items from a pallet or other container, and assembling a kit from items on or in a shelf, bin, or other container.

[0049] For example, in some embodiments, the robotic system 100 may be used to load a truck or other container. As shown in FIG. 1A, items may arrive at the left end of the conveyor 104, for example, from an upstream conveyor or other source of items. The conveyor 104 may be operated under robotic control to advance the items toward the robotic arm 106, which is located on the right side of the conveyor 104, as shown in FIG. 1A, and the robotic arm 106 and / or enabler joints 108, 110 may be operated under robotic control to pick up the items from the conveyor 104 and place them in a truck (or other destination). A vision or other perception system, provided by the control computer 114, for example, based on input from a camera (not shown in FIG. 1A) mounted on or near the robotic system 104, may be used to generate a three-dimensional perspective of the workspace and items arriving via the conveyor 104. The control computer may use a database or other repository of knowledge about the incoming items to determine attributes of the item, which may be used to determine and implement a plan for picking up and placing the item using one or more of the robotically controlled means comprising the robotic system 100, such as the chassis 102, the conveyor 104, the robotic arm 106, the enabler joints 108, 110, and the end effector 112. For example, the robotic arm 106 and the enabler joints 108, 110 may be operated in coordination to move the end effector to a position to pick up a given item, move the item along a planned trajectory, and place the item at a planned destination, such as a location selected for the item by the control computer 114 based on its attributes and the estimated state of a pile, stack, or other arrangement of previously placed items.

[0050] In various embodiments, the control computer 114 may communicate, for example, via wireless or wired communication, with one or more controllers comprising the robotic system 100. For example, separate controllers may be provided on one or more of the chassis 102, conveyor 104, enabler joint assemblies 108, 110, and / or robotic arm 106 and end effector 112 to control the respective robot controlled means. Each controller may provide low level control signals to one or more motor controllers, for example to cause the motor controller to supply current to an associated motor, such as a joint motor associated with a degree of freedom or robotic arm 106, to actuate the associated joint in conjunction to pick up an item, move it through a track, and position the end effector 112 to place the item at a destination.

[0051] In some embodiments, an integrated on-board controller may be included in the robotic system 100. For example, a single on-board controller may control two or more of the chassis 102, the conveyor 104, the enabler joint assemblies 108, 110, and / or the robotic arm 106 and the end effector 112. For example, in some embodiments, a single on-board controller may control the enabler joint assemblies 108, 110 and the robotic arm 106.

[0052] FIG. 1B illustrates an embodiment of a robotic system including a robot arm and a robotically controlled enabler joint. Specifically, a rear view of the robotic system 100 of FIG. 1A is illustrated. In the illustrated example, the robotic arm 106 is illustrated mounted to a transmission plate 108 such that the mounting portion of the transmission plate 108 is in a plane substantially parallel to the ground in a neutral or centered position as illustrated in FIG. 1B. The mounting portion is coupled to a body portion that is oriented at an inclination angle corresponding to the inclination angle of the top of the enabler joint base 110 as illustrated. An enabler joint motor 122 is mounted below the enabler joint base 110, i.e., on the opposite side of the transmission plate 108. The enabler joint motor 122 has an axis that extends through the enabler joint base 110 to allow the axis of the enabler joint motor 122 to rotate freely relative to the enabler joint base 110. The shaft of the enabler joint motor 122 is mechanically coupled to the transmission plate 108, allowing the enabler joint motor 122 to be operated under robotic control to rotate the transmission plate 108 about the enabler joint rotation axis 124 of the enabler joint assemblies 108, 110, 120.

[0053] 1B, the robotic system 100 includes a second robotic arm 116 mounted opposite the first robotic arm 106 and to the left of the conveyor 104 (as shown). The robotic arm 116 is mounted to an enabler joint assembly including a transfer plate 118, an enabler joint base 120, and an enabler joint motor 126 and associated axis of rotation 128 having a geometry, structure, and arrangement that substantially mirrors the corresponding elements that comprise the enabler joint assemblies 108, 110, 120 to which the robotic arm 106 is mounted.

[0054] In various embodiments, the robotic arms 106, 116 and their respective enabler joint assemblies may be operated simultaneously, alternately, and / or in concert to pick up items from the conveyor 104 and place them at a destination (e.g., palletizing or trucking) and / or to place them from a source onto the conveyor 104 (e.g., unpalletizing or trucking). For example, the robotic arms 106, 116 may be used singly, but coordinated by the control computer 114, to pick up items one at a time from the conveyor 104 and place them at a corresponding destination, such as a pallet, or truck or other container. In some embodiments, the robotic arms 106, 116 may be used together to cooperatively pick up and place a single item, such as a large and / or heavy box or other item.

[0055] 2A illustrates an embodiment of a robotic system including a robot arm and a robotically controlled enabler joint. In the illustrated example, the transfer plate 108 and the transfer plate 118 are both in a neutral or centered position. In the illustrated embodiment, with the transfer plate 108 and the transfer plate 118 in a neutral centered position, the base of each of the robot arms 106 and 116 is in a plane parallel to the ground as a result of the geometry of the transfer plate 108 and the transfer plate 118. Specifically, the mounting points of each of the transfer plates 108 and 118 are parallel to the ground.

[0056] 2B illustrates an embodiment of a robotic system including a robot arm and a robotically controlled enabler joint. In the state illustrated in FIG. 2B, the transfer plate 118 is rotated backwards in the direction indicated by arrow 202 about axis 128 by the action of motor 126. As a result, the mounting point of the transfer plate 118 is tilted backwards and slightly out of alignment with the conveyor 104. In some embodiments, the mounting point (e.g., the geometric center of the mounting point and / or base) is offset both radially and vertically (i.e., in the direction of axis 128) from the point on axis 128 where the transfer plate is mechanically coupled to the shaft of motor 126 and from the acute angle at which axis 128 is oriented with respect to the vertical (neither 0° nor perpendicular), such that the mounting point and the base of the robot arm 116 mounted thereto follow an elliptical path.

[0057] In various embodiments, the characteristic described in the previous paragraph, where the transfer plate 118 and the robot arm 116 move both backwards and away from the conveyor 104, is advantageously used by the robot control system as disclosed herein. For example, the system may decide to rotate one or both of the transfer plates 108 and 118 and the associated robot arms 106 and 116 backwards (or forwards) and outward, e.g., to make room for a wide box or other item to pass between them and / or to allow both the robot arms 106 and 116 to be used together in cooperation to grasp a large box. For example, by pivoting the arms slightly outward, the robot arms 106 and 116 may be able to collectively grasp an item using more favorable poses and / or techniques, e.g., poses and / or techniques that avoid control singularities or poses that are difficult or difficult to achieve or recover from or avoid collisions.

[0058] FIG. 3A illustrates an embodiment of a robotic system including a robot arm and a robotically controlled enabler joint. In the illustrated example, the transfer plate 108 has been rotated backwards, resulting in the robot arm 106 being positioned further back yet further outward relative to the conveyor 104. In various embodiments, using the enabler joints 108, 110 to position the robot arm 106 may enable the robot arm 106 to be used to pick up (or place) items further back on the conveyor 104, as shown. Such a capability may enable the robot arm 116 to be used simultaneously or nearly simultaneously to pick up (or place) items at a location further to the right of the conveyor 104, as shown. Additionally, in the position illustrated in FIG. 3A, the robot arm 106 may be in a better position to pick up (or place) items from (or to) a location near the front of the chassis 102 on the same side as the robot arm 106.

[0059] 3B illustrates an embodiment of a robotic system with a robotic arm and a robotically controlled enabler joint. In the illustrated example, the transfer plate 108 has been rotated forward to the position shown. In various embodiments, tilting the robotic arm 106 forward and slightly outward as shown using the enabler joints 108, 110 may enable the robotic arm to reach / place items at a greater height and / or greater distance from the chassis 102, or to reach across the front of the chassis 102 to pick up / place an item at a location near the front of the chassis 102 opposite the robotic arm 106.

[0060] 4A illustrates an embodiment of a robotic system including a robotic arm and a robotically controlled enabler joint. In the example shown, the transfer plate 108 has been rotated forward to the position shown in FIG. 3B.

[0061] 4B illustrates an embodiment of a robotic system with a robotic arm and a robotically controlled enabler joint. In FIG. 4B, a top view of the robotic system is shown with the robotic arm 106 tilted forward. In the illustrated example, the resulting positioning of the robotic arm 106 extends across the front of the chassis 102 and is used to pick up / place an item 402 at a location near the front of the chassis 102 opposite the robotic arm 106.

[0062] 5A illustrates an embodiment of a robotic system including a robotic arm and a robotically controlled enabler joint. In the illustrated example, the transfer plate 108 is rotated forward and the robotic arm 106 is extended above and relatively far forward of the chassis 102 to pick up / place an item 502, for example, on top of a box stacked as shown. In various embodiments, a robotic control system, such as the control computer 114 of FIG. 1A, controls one or more of the robotically controlled means of the robotic system, such as the chassis 102, the conveyor 104, the robotic arm 106, the enabler joints 108, 110, and the end effector 112.

[0063] Imagery or other sensor data may be received and provided to a vision or perception system configured to generate a three-dimensional perspective of at least a relevant portion of the workspace. The control computer may advance the chassis 102, for example, to the position illustrated in FIG. 5A, advance the conveyor 104, for example, to move items 504, 508 to a location where they will be picked up / placed, and may operate the robotic arm 106, enabler joints 108, 110, and end effector 112 to perform tasks associated with a higher level objective. For example, in the example illustrated in FIG. 5A, the control computer may have positioned the chassis 102 as illustrated and may advance the conveyor 104 to place the item 502 where the robotic arm 106 may be used to pick up and place the item 502 in the location illustrated. The control computer may synchronously operate the robotic arm 106 and the enabler joints 108, 110 to grasp the item 502 with the robotic arm 106 and move the item 502 to the position shown through seamless, fluid, and at least partially simultaneous movement of elements including the enabler joints 108, 110 and the robotic arm 106.

[0064] In various embodiments, the control computer may be configured to determine a more advanced plan for stacking items as shown, for example, by training, machine learning, artificial intelligence, heuristics, and other techniques, alone or in combination. For example, to load items into a truck or other container large enough for the robotic system 100 to move and / or reach, the control computer may devise a plan for building the stack as shown by forming successively staggered layers of items in a staircase-like fashion as shown in FIG. 5A. For example, after the boxes shown in cross-hatching are placed first, the chassis 102 may retreat to the position shown, allowing the boxes not occupied by the cross-hatching to be placed as shown. In this example, after placing item 502 on top of the stack, the control computer may retreat chassis 102 further away from the stack, for example, to allow the reaching items 504, 508 to be used to form the next set of "staircases."

[0065] 5B is a diagram illustrating an embodiment of a robotic system including a robotic arm and a robotically controlled enabler joint. In the example shown, the transfer plate 108 and robotic arm 106 are rotated rearward (and outward from the conveyor 104) to allow an item 510 to be picked up or placed at the location shown near the front of the chassis 102 on the same side as the robotic arm 106.

[0066] 6A illustrates an embodiment of a robotic system with a robot arm and a robotically controlled enabler joint. In the illustrated example, both the transfer plate 108 and robot arm 106 and the transfer plate 118 and robot arm 116 are rotated backwards and thus slightly outward. As a result, a wider space is available for an item 602 to pass between the transfer plate 108 and robot arm 106 on one side and the transfer plate 118 and robot arm 116 on the other side.

[0067] In various embodiments, visual, label scanning, laser or other optical sensors, or other sensors may be used to detect when an item requiring a larger clearance must pass between the enabler joint and / or robotic arm, and in response, the control computer places the enabler joint and robotic arm in the position shown in FIG. 6A.

[0068] FIG 6B illustrates an embodiment of a robotic system with a robot arm and a robotically controlled enabler joint. Specifically, the robotic system 100 is shown from a side perspective, configured as illustrated in FIG 6A. The diagram in FIG 6B shows that the enabler joint and the robot arm can be rotated backwards to facilitate cooperative pick-up and placement of an item 602 by two robots. For example, the robot arm 106 can be positioned in a pose that is favorable for placing its end effector 112 at a central location on a proximal surface (to the robot arm 106) of the item 602.

[0069] Figure 6C illustrates an embodiment of a robotic system with robotic arms and robotically controlled enabler joints. Specifically, the robotic system 100 is illustrated from a top view, configured as illustrated in Figure 6A. The diagram illustrated in Figure 6C shows how positioning the robotic arms 106, 116 backward and slightly outward using enabler joints 108, 110 and 118, 120 facilitates cooperative picking and placing of an item 602 by two robots.

[0070] In FIG. 6C, ellipse 606 illustrates the elliptical path that the base of the robot arm 106 may follow as the enabler joints 108, 110 are rotated backwards or forwards from a center / neutral position where it is closest to the conveyor 104.

[0071] 7A illustrates a rear view of one embodiment of a robotic system with a robotic arm and a robotically controlled enabler joint. In the example shown, the enabler joints 108, 110 and robotic arm 106 are rotated forward, and the enabler joints 118, 120 and robotic arm 116 are rotated backward. In various embodiments, rotating one arm forward and the other arm backward has a similar effect to a human worker rotating his or her shoulders for a task.

[0072] 7B illustrates a top view of one embodiment of a robotic system with a robotic arm and a robotically controlled enabler joint. In the illustrated example, as in FIG. 7A, the enabler joints 108, 110 and robotic arm 106 are rotated forward, and the enabler joints 118, 120 and robotic arm 116 are rotated backward. The robotic arms 106, 116 are used to cooperatively grasp and lift an item 702 from the conveyor 104.

[0073] 7C illustrates a top view of an embodiment of a robotic system with a robotic arm and a robotically controlled enabler joint. In the illustrated example, rotating the enabler joints 108, 110 and robotic arm 106 forward and rotating the enabler joints 118, 120 and robotic arm 116 backward has a similar effect as a human worker turning his shoulders to perform a task, as shown by the line 704 passing through the repositioned bases of the robotic arms 106, 116. When both enabler joints (108, 110 and 118, 120) are in the center / neutral position, the line between the bases is parallel to the front edge of the chassis 102. However, as shown, by rotating the enabler joints 108, 110 and robot arm 106 forward while rotating the enabler joints 118, 120 and robot arm 116 backward, the robot arms 106, 116 are able to better move and place the item 702 to the location shown without placing the robot arm 116 in an awkward or poor position, e.g., without the robot arm 116 contacting the side wall of a track or other obstacle or constraint in the workspace.

[0074] In some embodiments, the control computer may be programmed or configured to perform collaborative pick and place operations, as illustrated in FIGS. 7A-7C. In some embodiments, the control computer may learn to perform such operations, including the advantages or usefulness of rotating one robotic arm forward and the other backward. For example, the system may observe as a human operator operates the robotic system 100 in various ways to perform different tasks under dynamic conditions. The control computer may learn from observing which strategies tend to result in successful pick and place operations under given conditions.

[0075] 8A illustrates an embodiment of a robotic system with a robotic arm and a robotically controlled enabler joint. In the illustrated example, the enabler joints 108, 110 and the robotic arm 106, as well as the enabler joints 118, 120 and the robotic arm 116, are in a centered / neutral position. In view of the geometry of the transmission plates 108, 118 and the angles of the rotation axes 124 and 128, the position of the enabler joints (108, 110 and 118, 120) as illustrated in FIG. 8A results in the mounting points on which the bases of the respective robotic arms 106, 116 are mounted being substantially parallel to the ground, i.e. in the same up-down orientation as if the robotic arms 106, 116 were mounted directly on top of the chassis 102.

[0076] Figure 8B illustrates an embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint. In the illustrated example, the geometry of the transfer plates 808 and 818 differs from the geometry of the corresponding structures (transfer plates 108, 118) in Figure 8A, such that when the enabler joints (808, 110 and 818, 120) are in a center / neutral position, the robotic arms 106, 116 are tilted inwardly towards the conveyor 104.

[0077] 8B , the robotic system is shown deployed within a truck or shipping container 802. In this example, the use of transfer plates 808 and 818, which result in the robotic arms 106, 116 being tilted slightly inward toward the conveyor 104, may make it easier for the robotic arms 106, 116 to be used to pick up / place items between the conveyor 104 and the truck or container 802 without risking collision with the sidewall of the truck or container 802.

[0078] In various embodiments, a custom or off-the-shelf transfer plate may be fabricated or selected, with the control computer configured or programmed to control the enabler joints and robotic arm given the geometry of the transfer plate. In some embodiments, the orientation of the enabler joint axes 124, 128 may be similarly changed, with the control computer adapted to control the enabler joints and robotic arm accordingly.

[0079] 9A is a diagram illustrating one embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint. In the illustrated example, the robotic system 900 includes elements of the robotic system 100 of FIG. 1A et seq., and further includes a mounting pole or boom 902 on which cameras 904, 906, and 908 are mounted to provide views of the stack being built by the robotic system 900, the front and foot areas of the chassis 102, and items (e.g., 504, 508) arriving via the conveyor 104.

[0080] In various embodiments, a control computer, such as control computer 114 of FIG. 1A , uses image data from cameras 904, 906, and 908 to create and implement a plan for picking up and placing items arriving via conveyor 104. The image data from camera 908 may be used, for example, to determine size, weight, and / or other attributes of the items arriving via conveyor 104. The attributes may be used to determine a strategy for picking, moving, and / or placing each item.

[0081] 9A, the enabler joints 108, 110 and the robotic arm 106 are tilted forward and the robotic arm 106 is used to place an item 502 on top at the back of the stack as shown. The image provided by the camera 904 may be used, for example, to select a location to place the item 502, to place the item 502, and / or to verify the position of the item 502 and / or the stability of the stack after the item 502 is placed.

[0082] 9B illustrates an embodiment of a robotic system including a robotic arm and a robotically controlled enabler joint. In the illustrated example, the enabler joints 108, 110 and the robotic arm 106 are tilted backwards and the robotic arm 106 is used to pick up or place an item 922 at a location on the ground very close to the front of the chassis 102. In various embodiments, images from a downward looking camera 906 may be used to select the placement location and / or the item 922 to be picked up / placed and / or to perform the pick / place task and / or evaluate the results of the task.

[0083] FIG 9C illustrates an embodiment of a robotic system with a robotic arm and a robotically controlled enabler joint. In the illustrated example, pole 902 of FIGS. 9A and 9B is shown supporting one end of a cross member 924 that is supported at an opposite end by a pole 926. Forward looking cameras 932 and 934 provide a view of the upper area of ​​the work area in front of the robotic system 900, such as the stack illustrated in FIG 9A. Down looking camera 936 provides a view of the ground in front of the robotic system 900, for example, just forward of the chassis 102, as in the example illustrated in FIG 9B.

[0084] The downward looking camera 936 is shown to have a wider field of view than the forward looking cameras 932, 934, allowing the ground in front of the chassis 102 to be viewed with a single camera.

[0085] In various embodiments, a 3D camera is used to provide both a 2D image (e.g., RGB) and depth information (depth pixels or "point cloud") to allow a 3D view of the workspace to be constructed.

[0086] 10A is a block diagram illustrating one embodiment of a control architecture for a robotic system with a robotic arm and a robotically controlled enabler joint. In the illustrated example, a camera 1002 and (optionally) other sensors 1004 provide input to a control computer 1006, such as the control computer 114 of FIG. 1A. In the illustrated example, the control computer 1006 sends commands to an enabler joint controller 1008, which separately but in conjunction sends commands to a robot arm controller 1012 to control one or more enabler joints. The enabler joint controller 1008 sends lower level (e.g. torque) commands to an enabler joint motor controller 1010 and sensors at or associated with the enabler joints and / or the enabler joint motors send feedback signals (e.g. position, temperature) back to the control computer 1006 via the enabler joint controller 1008. Similarly, the robot arm controller 1012 sends lower level commands to the joint motor controllers that comprise the robot arm, which in turn provide current to the respective joint motors 1014 to move the robot arm and its components as calculated to perform a given task, such as a pick and place task or portion thereof. Similarly, sensor information from or associated with the joint motors may be fed back through the robot arm controller 1012 to the control computer 1006.

[0087] In various embodiments, the control system and architecture illustrated in FIG. 10A may enable an off-the-shelf robot arm having an associated robot arm controller configured to be used to control and manipulate the robot arm through an extended working space defined at least in part by the n degrees of freedom of the robot arm and the (n+1)th degree of freedom provided by the enabler joints, as disclosed herein, to be used, and the enabler joints and associated controllers may be obtained, for example, from a third party vendor and used in an integrated manner.

[0088] 10B is a block diagram illustrating one embodiment of a control architecture for a robotic system comprising a robotic arm and a robotically controlled enabler joint. In the illustrated example, a camera 1022 and (optionally) other sensors 1024 provide input to a control computer 1026. The control computer 1026 sends commands to an integrated controller 1028, which is configured to control both the enabler joint and the robotic arm, for example by sending commands to respective motor controllers 1030 associated with the enabler joint and the joints of the robotic arm. As in the example of FIG. 10A, the motors may include or be associated with their own sensors, the outputs of which may be passed up to the control computer 1026 via the integrated controller 1028.

[0089] FIG. 11 is a flow diagram illustrating an embodiment of a process for controlling a robotic system with a robotic arm and a robotically controlled enabler joint. In various embodiments, the process 1100 of FIG. 11 is performed by a control computer, such as the control computer 114 of FIG. 1A, the control computer 1006 of FIG. 10A, or the control computer 1026 of FIG. 10B. In the illustrated example, camera and (optionally) other sensor inputs are received at 1102. The received camera / sensor data is used to generate or update a three-dimensional view of the workspace at 1104. The next item to pick up / place is determined at 1106 along with a strategy, plan, and trajectory for grasping, moving, and placing the item. The plan for grasping, moving, and placing the item is implemented / executed at 1108. If the pick up / place is not successful (1110), error handling is performed at 1112. For example, the next strategy / plan for picking / placing the item may be determined and attempted, or human assistance may be requested. If the pick / place is successful (1110) and it is determined that more items need to be picked / placed (1114), the process returns to 1102 and further iterations of steps 1102, 1104, 1106, 1108, and 1110 (and 1112, if necessary) are performed to pick / place the next item. This continues until all items have been picked / placed (1114).

[0090] In various embodiments, the techniques disclosed herein may be used to extend the operational reach, functionality, and / or flexibility of a robot, such as a six degree of freedom or other robotic arm.

[0091] FIG. 12A illustrates one embodiment of a robotically controlled guidance mechanism. In various embodiments, the mechanism 1200 of FIG. 12A may be used to facilitate or control the transfer of items from an upstream supply transport structure 1202 to a robotically controlled truck / container loader or other robotic item handling system, as disclosed herein. In the illustrated example, the mechanism 1200 includes a pusher bar or pusher plate 1208, which is shown in position to push the items 1204 from the supply transport structure 1202 to the receiving (rear) end of the conveyor 104 on the robotically controlled moveable carriage 102. The pusher 1208 is coupled via joint 1210 and upper link 1212 to a robotically (or otherwise) controlled bidirectional motorized joint 1214, which in this example is mounted overhead.

[0092] 12A, the motorized joint 1214 may be actuated in a clockwise direction to cause the pusher 1208 to push the box 1204 from behind onto the conveyor 104. In subsequent operations, the motorized joint 1214 may be actuated in a counterclockwise direction (as shown) to lift and move the pusher 1208 out of the way as additional items arrive via the transport structure 1202, allowing the item 1206 to be advanced to a position where the pusher 1208 can be positioned behind the item 1206, such as by actuating the motorized joint 1214 in a clockwise direction.

[0093] 12A , an upstream worker or system, such as a human worker, a worker robot, or a combination of humans and robots, works to add items onto the transport structure 1202 and advance them to a position near the guide mechanism 1200. A motor-operated conveyor, a roller-based transport that uses gravity and a human or other worker to advance the items, or some combination of different types of active and passive transport structures may be used.

[0094] In various embodiments, the robotic systems disclosed herein utilize image data (e.g., from cameras such as those illustrated in FIGS. 9A, 9B, and 9C and / or other cameras) to monitor the status of items on the conveyor 104 arriving via the transport structure 1202. As the amount and / or density of items on the conveyor 104 decreases, the guidance mechanism 1202 operates to push (more) items onto the conveyor 104 or operates more quickly.

[0095] 12B illustrates one embodiment of a robotically controlled guidance mechanism. In the illustrated example, an extendable bridge 1220 is provided and deployed to facilitate the transfer of items from the transport 1202 to the conveyor 104. In the illustrated example, the extendable bridge 1220 comprises a spring-like or scissor-like structure with rollers located at the top joint to allow items to roll on top. Rollers at the distal end of the extendable bridge 1220 provide support to the distal end. In some embodiments, the distal end may be fixed to the conveyor 104, for example to remain engaged as the moveable chassis 102 enters or exits the truck or other container being loaded or unloaded. In some embodiments, the extendable bridge 1220 may be spring-suspended to allow some of the initial shock of the movement of the moveable chassis 102 into or out of the truck or other container to be absorbed while still remaining connected and engaged.

[0096] 12B, the transport structure 1202 has a variable height leg at the end closest to the conveyor 104 that includes a fixed upper leg 1222 and a variable length nested lower leg 1224. The variable height leg allows the height of the transport structure 1202 to be adjusted at that end, for example to allow the extendable bridge 1220 to be positioned as shown and for gravity to assist in the transfer of items from the transport structure 1202 to the conveyor 104. In some embodiments, a human or other operator may position one or more of the transport structure 1202, the variable height legs 1222, 1224, and the extendable bridge 1220.

[0097] Figure 13A shows one embodiment of a robotically controlled guidance mechanism. In the illustrated example, a linear actuator assembly, comprising a fixedly mounted housing and actuation mechanism 1302 and a stroke rod or shaft 1304 that is linearly movable within the housing and actuation mechanism 1302 by the action of an actuation mechanism (e.g., a motor, gearbox, and lead screw, or other linear actuation mechanism) not shown in Figure 13A, is configured to move a unidirectional flap 1306 that is suspended from the stroke rod or shaft 1304 as shown. In the state shown in Figure 13A, the stroke rod or shaft 1304 has been moved to the right by the action of the housing and actuation mechanism 1302, so that the unidirectional flap 1306 opens when it contacts the item 1204.

[0098] FIG 13B shows one embodiment of a robotically controlled guidance mechanism. In the example shown, the flap 1306 has been moved behind the item 1204 and actuated to move the stroke rod or shaft 1304 and unidirectional flap 1306 to the left as shown. A mechanical stop 1308 attached to and / or including an integral part of the stroke rod or shaft 1304 prevents the flap from moving further to the right than is shown, so that the flap 1306 pushes the item 1204 to the left and onto the conveyor 104. The linear actuation mechanisms 1302, 1304 then repeat the motions shown in FIG 13A and 13B for the item 1206.

[0099] In various embodiments, the linear actuation mechanisms 1302, 1304 of Figures 13A and 13B are operated under robotic control, as described above, to, for example, facilitate movement of items onto the conveyor 104 to ensure a steady flow of items onto the conveyor 104, for example at a desired inflow rate.

[0100] FIG. 14A shows one embodiment of a robotically controlled guidance mechanism. In the illustrated example, a linked set of linearly actuable one-way flaps 1402, 1404, 1406, 1408, 1410, and 1412 are provided. In various embodiments, a plurality of different sized boxes or other items must be fed to the conveyor 104 from a feed conveyor, such as conveyor 1202. Typically, a larger box must travel further ahead (e.g., along conveyor 1202) than a smaller box in order for a given set of flaps to close behind the box. In various embodiments, as in the example illustrated in FIG. 14A, a linked set of independently actuable flaps is used, such that the first set of flaps that fully engages a given box can be used to pull / push that box onto the conveyor 104.

[0101] FIG 14B illustrates one embodiment of a robotically controlled guidance mechanism. In the illustrated example and condition, the item 1204 first passes through (i.e., between) the flaps 1410, 1412, which do not extend far enough toward the center of the transport 1202 to engage and retract / push the item 1204. As illustrated, the item 1204 also passes completely through the flaps 1406, 1408, which are fully engageable from behind with the item 1204 as shown. The flaps 1406 and 1408 are shown actuated, for example, by independently operable linear actuators not illustrated in FIG 14B, to move the flaps 1406, 1408 toward the conveyor 104, thereby retracting / push the item 1204 into the conveyor 104.

[0102] 14A and 14B are operated under robotic control, as described above, to, for example, facilitate the movement of items onto the conveyor 104, to ensure a steady flow of items onto the conveyor 104, for example at a desired inlet velocity. For example, images generated by a camera may be used to determine the first set of flaps that can fully engage a given item from behind, and a command or signal may be sent to cause that set of flaps to pull / push the item onto the conveyor 104.

[0103] FIG. 15 illustrates one embodiment of a robotically controlled system for diverting and reordering items. In the illustrated example, the robotic system 1500 includes a movable carriage 1502, a central conveyor 1504, and a pair of robotic arms disposed on either side of the carriage 1502. Items, such as item 1518, arrive via a feed transport structure 1520. In the illustrated state, a robotically controlled diverter 1522 has been moved into position to divert item 1518 to a side conveyor 1524. The side conveyor 1524 may be mounted on or positioned alongside the movable carriage 1502. The side conveyor 1524 is operated under robotic control to store item 1518, for example, by retracting item 1518 (downward as shown) into an accumulator 1526. The accumulator 1526 may comprise various structures for receiving, holding, and returning items. For example, the accumulator 1526 may include a plurality of vertically repositionable containers. The item 1518 may be placed in a designated one of the containers. When the system 1500 is ready to handle the item 1518, the container holding the item 1518 may be positioned and an actuator with the accumulator 1526 activated to re-move the item 1518 to the side conveyor 1524. For example, the accumulator may eject the item 1518 using a pusher mechanism or a tilted shelf. The side conveyor 1524 may be operated to help pull the item 1518 forward (upward as shown) from the accumulator 1526 back to the side conveyor 1524. The side conveyor 1524 then continues to advance the item 1518 until it engages a (in this example) fixed diverter 1528, which diverts the item 1518 to the main central conveyor 1504 which in turn receives and positions the item 1518 for pick-up by one or both of the robotic arms 1506, 1516.

[0104] In various embodiments, the robotic system disclosed herein may autonomously decide to divert an item, such as item 1518 in the above example, for one or more motives, such as resequencing items for loading onto a truck or other container. For example, if a substrate is being built and a large, heavy item 1518 is expected to arrive via the supply transport 1520, the robotic system may decide to divert and store item 1518 in accumulator 1526, as described above, to allow smaller items expected or expected to arrive after item 1518 to be received and loaded first. For example, a computer vision system may look at items arriving after item 1518 and determine, based on their perceived size and / or examined attributes, whether it would be advantageous to place those items before placing item 1518. Or, the system may have an invoice or manifest of items expected to be loaded onto a given truck or container. The system can track what has already been received and loaded and can calculate the likelihood that an item arriving after item 1518 is better suited to be handled next.

[0105] FIG. 16A illustrates one embodiment of a robotically controlled loading system for loading trucks or other containers. In the illustrated example, the robotic truck / container loading system disclosed herein includes a movable chassis 102, a conveyor 104, and one or more robotic arms, such as robotic arm 116 (shown only partially and oppositely to avoid obscuring other features). In various embodiments, the system detects the arrival of an item that may be too heavy to be lifted and moved off the conveyor 104 using a robotic arm, such as robotic arm 116. In response, the system deploys a helper transport structure 1602 as shown. In various embodiments, the helper transport structure 1602 may comprise one or more of a table, slide, chute, and motor-operated transport, such as a conveyor belt. Initially, the helper transport structure 1602 is positioned in a horizontal position adjacent to the conveyor 104 to receive the heavy item, as represented by dashed line 1604. The conveyor 104 and / or the helper transport structure 1602 operate to push / pull the item into the helper transport structure 1602, which is then actuated to move to the position shown in FIG. 16A. The item is slid, conveyed, or pushed up the helper transport structure 1602 to the floor 1606 using a robotic arm (e.g., 116). The moveable chassis 102 may be moved under robotic control prior to the previously described operations to position the moveable chassis 102 and elements mounted thereon at a location, location, and orientation determined to be most likely to result in the item being placed at the desired location on the floor 1606.

[0106] FIG. 16B shows an embodiment of a robotically controlled loading system for loading trucks or other containers. In the illustrated example, the helper transport structure 1602 of FIG. 16A is replaced by a vertically movable helper conveyor 1620. In various embodiments, the vertically movable helper conveyor 1620 is moved by guides and lift drives 1622 from a position between an upper position alongside the conveyor 104 to allow items to be moved to the helper conveyor 1620 and moved to a position at or near the floor 1606. Heavy items moved to the helper conveyor 1620, for example from the conveyor 104, are moved to the floor by lowering the helper conveyor 1620 to the floor under robotic control and operating the helper conveyor 1620 to push the items off the helper conveyor 1620 and onto the floor 1606.

[0107] FIG 16C shows one embodiment of a robotically controlled loading system for loading trucks or other containers. In the example shown, the helper transport structure 1602 of FIG 16A is replaced by a helper conveyor 1640 connected by a four bar linkage. The helper conveyor 1640 is positioned as shown to receive the items. Once the items have been transferred to the helper conveyor 1640, the helper conveyor 1640 is lowered to the floor 1606 to the position shown in dashed lines and operated to transfer the items from the helper conveyor 1640 to the floor 1606.

[0108] FIG. 17 shows one embodiment of a robotically controlled loading system for loading trucks or other containers. In the illustrated example, the robotic system 1700 is shown from above to include a moveable chassis 1702, a central conveyor 1704, and robotic arms 1706, 1716. The moveable chassis 1702 includes cutouts to receive a helper transport 1720 and associated structures 1722, 1724 to raise and lower the helper transport 1720. In various embodiments, the helper transport 1720 can be any one of the designs illustrated in FIGS. 16A, 16B, and 16C, or other transport structures.

[0109] Although the above embodiments have been described in some detail for clarity of understanding, the present invention is not limited to the details provided. There are many alternative ways to implement the present invention. The disclosed embodiments are illustrative and not restrictive.

Claims

1. 1. A robot system comprising: A robotic arm having n degrees of freedom, the robotic arm comprising a base and a set of continuously connected links and joints connected to the base at a proximal end and terminating in a free-moving distal end; an enabler joint assembly comprising a mounting point on which the base of the robotic arm is mounted, the enabler joint assembly having an axis of rotation offset from the mounting point and about which the enabler joint assembly is configured to rotate the mounting point; a processor configured to control a first set of motors and an enabler joint motor, each motor associated with a corresponding one of the n degrees of freedom of the robot arm, the enabler joint motors configuring the enabler joint assembly to control movement of the robot arm within an extended working space defined at least in part by the n degrees of freedom of the robot arm and an (n+1)th degree of freedom provided by the enabler joint assembly; A robot system comprising:

2. 2. The system of claim 1, wherein the enabler joint assembly comprises a transmission plate mechanically connected to the mounting point at which the base of the robot arm is mounted, and a fixedly mounted enabler joint assembly base, wherein the transmission plate is rotated about the enabler joint assembly axis of rotation relative to the fixedly mounted enabler joint assembly base.

3. 3. The system of claim 2, wherein the enabler joint assembly base is fixedly mounted to a robotically controlled moveable chassis.

4. 4. The system of claim 3, wherein the enabler joint assembly base supports an enabler joint motor configured to rotate the transfer plate about the axis of rotation.

5. 3. The system of claim 2, wherein the enabler joint assembly base is fixedly mounted to the robotically controlled moveable chassis such that the axis of rotation of the enabler joint assembly is oriented at an acute angle other than perpendicular to a vertical axis.

6. 6. The system of claim 5, wherein the geometry of the transmission plate causes rotation of the transmission plate about the axis of rotation of the enabler joint assembly from a center or neutral position to tilt the mounting point and the robotic arm in the direction of the rotation.

7. 6. The system of claim 5, wherein the geometry of the transfer plate causes rotation of the transfer plate about the axis of rotation of the enabler joint assembly from a center or neutral position to move the mounting point and the robotic arm away from structure adjacent the enabler joint assembly.

8. 6. The system of claim 5, wherein the geometry of the transfer plate and the orientation of the axis of rotation of the enabler joint assembly cause the mounting point to be substantially parallel to the ground when the enabler joint assembly is in a center or neutral position.

9. 6. The system of claim 5, wherein the geometry of the transfer plate and the orientation of the axis of rotation of the enabler joint assembly cause the mounting point to be inclined at an angle relative to the ground when the enabler joint assembly is in a center or neutral position.

10. 3. The system of claim 2, wherein the mounting point forms an integral part of the transfer plate.

11. 2. The system of claim 1, wherein the processor comprises one or more of a control computer, a robotic arm controller, an enabler joint assembly controller, and an integrated controller configured to control both the robotic arm and the enabler joint assembly.

12. 2. The system of claim 1, wherein the processor is configured to receive image data, generate a three-dimensional perspective of a workspace in which the robotic system is deployed, and use the three-dimensional perspective of the workspace to generate and implement plans for performing tasks on items in the workspace using the robotic arm and enabler joint assembly.

13. 2. The system of claim 1, wherein the processor is configured to rotate the enabler joint assembly forward to increase a reach associated with the robotic arm.

14. 2. The system of claim 1, wherein the processor is configured to rotate the enabler joint assembly forward or backward to position the robotic arm to perform a task regardless of whether or not the robotic arm needs to be positioned in an awkward pose.

15. 2. The system of claim 1 , wherein the robotic arm comprises a first robotic arm, the enabler joint assembly comprises a first enabler joint assembly, the first robotic arm and the first enabler joint assembly are disposed on a first side of a robotically controlled moveable chassis, and a second robotic arm and a second enabler joint assembly are disposed on a second side of the robotically controlled moveable chassis.

16. 15. The system of claim 14, wherein a robotically controlled conveyor is disposed between the first robotic arm and first enabler joint assembly and the second robotic arm and second enabler joint assembly.

17. 16. The system of claim 15, wherein the processor is configured to perform tasks by controlling one or more of the chassis, the conveyor, the first robotic arm, the first enabler joint assembly, the second robotic arm, and the second enabler joint assembly.

18. 17. The system of claim 16, wherein the processor is configured to use the first enabler joint assembly to rotate the first robotic arm forward and use the second enabler joint assembly to rotate the second robotic arm backward to perform a pick or place task to a location closer to the second robotic arm than the first robotic arm.

19. 11. A method of controlling a robotic system comprising a robotic arm having n degrees of freedom, the robotic arm comprising a base and a set of continuously connected links and joints connected at a proximal end to the base and terminating in a free-moving distal end, an enabler joint assembly comprising a mounting point at which the base of the robotic arm is mounted and having an axis of rotation offset from the mounting point and about which the enabler joint assembly is configured to rotate the mounting point, the method comprising controlling using a processor a first set of motors and enabler joint motors, each motor associated with a corresponding one of the n degrees of freedom of the robotic arm, the enabler joint motors configuring the enabler joint assembly to control movement of the robotic arm within an extended working space defined at least in part by the n degrees of freedom of the robotic arm and an (n+1)th degree of freedom provided by the enabler joint assembly.

20. 1. A computer program product embodied in a non-transitory computer readable medium for controlling a robotic system comprising a robotic arm having n degrees of freedom, the robotic arm comprising a base and a set of continuously connected links and joints coupled at a proximal end to the base and terminating in a free-moving distal end, an enabler joint assembly comprising a mounting point at which the base of the robotic arm is mounted and having an axis of rotation offset from the mounting point and about which the enabler joint assembly is configured to rotate the mounting point, the computer program product including computer instructions for controlling a first set of motors and enabler joint motors, each motor associated with a corresponding one of the n degrees of freedom of the robotic arm, the enabler joint motors configuring the enabler joint assembly to control movement of the robotic arm within an extended working space defined at least in part by the n degrees of freedom of the robotic arm and an (n+1)th degree of freedom provided by the enabler joint assembly.

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