Robots with seven or more degrees of freedom

Abstract

A robot having seven or more degrees of freedom is disclosed. In various embodiments, the robot includes a positioning robot having m degrees of freedom and a manipulator robot having n degrees of freedom coupled to the positioning robot. The robot is configured to operate in a first operational mode in which the positioning robot is controlled to position and move the manipulator robot to a position to perform a task, and the manipulator robot is controlled independently of the positioning robot to perform the task, and in a second operational mode in which at least some of the m degrees of freedom of the positioning robot and at least some of the n degrees of freedom of the manipulator robot are controlled together by a single controller to perform the task.

Description

CROSS-REFERENCE TO OTHER APPLICATIONS

[0001] This application claims priority to U.S. Provisional Patent Application No. 63 / 397,765, filed August 12, 2022, entitled "ROBOT WITH SEVEN OR MORE DEGREES OF FREEDOM," which is incorporated herein by reference for all purposes.

[0002] Industrial robots perform a variety of tasks. In many situations, robots may be used to pick items from one location and place them in another, such as to build kits or to fulfill orders, invoices, or other requirements.

[0003] Robots can be used to handle items of various shapes, sizes, and weights, as well as items with diverse properties (rigidity, flexibility, durability, strength, smoothness, etc.).

[0004] Robot arms with six degrees of freedom (DOF) are commonly used. A 6-DOF robotic arm typically has three segments, including a base (proximal) segment (which may be rotatably mounted to a fixed or movable base (providing the first DOF)) and a middle segment (which is attached at a first end to the distal end of the base segment via a first motor-driven hinge joint (also called a "shoulder" joint) (the second DOF) and at a second (distal) end to the proximal end of a third segment by a second motor-driven hinge joint (also called an "elbow" joint) (the third DOF). A wrist assembly and end effector are typically provided at the free-moving distal end of the third segment, with the wrist assembly providing three additional DOF (roll, pitch, and yaw).

[0005] A typical 6DOF robot provides the flexibility and control to relatively freely pick and place objects within a particular range or portion of motion in three-dimensional space. Kinematic, dynamic, and / or other models of the robot and its elements and attributes may be utilized to control the robot to autonomously pick and place items, for example, under computer control.

[0006] Typically, care is taken to ensure the safety of nearby human workers and to avoid damaging the robot, the item being handled by the robot, or structures existing in the workspace. Speed ​​may be required to increase slew rate, and precision may be required.

[0007] In some contexts, conventional 6DOF robots cannot achieve the desired speed and precision along with the required safety. [Brief explanation of the drawings]

[0008] Various embodiments of the present invention are disclosed in the following detailed description and the accompanying drawings.

[0009] [Figure 1] FIG. 1 illustrates an embodiment of a robot having seven or more degrees of freedom.

[0010] [Figure 2] FIG. 1 illustrates an embodiment of a system with one or more robots having seven or more degrees of freedom.

[0011] [Figure 3] 1 is a flow chart illustrating one embodiment of a process for controlling a robot with seven or more degrees of freedom.

[0012] [Figure 4] 1 is a flow chart illustrating one embodiment of a process for training a model used to control a robot with seven or more degrees of freedom.

[0013] [Figure 5] FIG. 1 illustrates an embodiment of a compact design of a robotic joint to provide three or more degrees of freedom.

[0014] [Figure 6] FIG. 1 illustrates an embodiment of a robot with (m+n) degrees of freedom.

[0015] [Figure 7] FIG. 1 illustrates an embodiment of a robot with (m+n) degrees of freedom.

[0016] [Figure 8A] 1 is a flow chart illustrating one embodiment of a process for controlling a robot with (m+n) degrees of freedom.

[0017] [Figure 8B] 1 is a flow chart illustrating one embodiment of a process for moving a robot having (m+n) degrees of freedom into a position to perform a task.

[0018] [Figure 9] FIG. 1 illustrates an embodiment of a robot with two robotic arms.

[0019] [Figure 10] FIG. 1 illustrates an embodiment of a robot with two robotic arms.

[0020] [Figure 11] FIG. 1 illustrates an embodiment of a robot with two robotic arms.

[0021] [Figure 12] FIG. 1 illustrates an embodiment of a robot with two robotic arms.

[0022] [Figure 13] FIG. 1 illustrates an embodiment of a robot with two robotic arms.

[0023] [Figure 14] FIG. 1 illustrates an embodiment of a robot with two robotic arms.

[0024] [Figure 15] FIG. 1 illustrates an embodiment of a robot with two robotic arms.

[0025] [Figure 16] 1 is a flow chart illustrating one embodiment of a process for controlling a robot with two robotic arms.

[0026] [Figure 17] 1 is a flow chart illustrating one embodiment of a process for controlling a robot with two robotic arms. DETAILED DESCRIPTION OF THE INVENTION

[0027] The present invention may be embodied in various forms, including as a process, an apparatus, a system, a composition of matter, a computer program product embodied on a computer-readable storage medium, and / or a processor configured to execute instructions stored in and / or provided by a memory coupled to the processor. These embodiments, or any other form the present invention may take, may be referred to herein as technology. In general, the order of steps in a disclosed process may be varied within the scope of the present invention. Unless otherwise noted, components, such as a processor or memory, described as configured to perform a task may be implemented as general components temporarily configured to perform the task at a given time, or as specific components manufactured to perform the task. As used herein, the term “processor” refers to one or more devices, circuits, and / or processing cores configured to process data, such as computer program instructions.

[0028] The following is a detailed description of one or more embodiments of the present invention with reference to figures that illustrate the principles of the invention. While the present invention has been described in connection with such embodiments, it is not limited to any particular embodiment. The scope of the present invention is limited only by the claims, and the present invention includes many alternatives, modifications, and equivalents. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. These details are 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 simplicity, technical matters that are well known in the art related to the present invention have not been described in detail so as not to unnecessarily obscure the present invention.

[0029] Robots having seven or more degrees of freedom are disclosed. In various embodiments, additional degrees of freedom are provided by including one or more additional arm segments beyond the three segments typically included in a 6 DOF robot, and / or by mounting the robot arm on a structure that provides the additional DOF (such as a chassis that moves along a rail or other linear guide, or a drive or cam or similar structure configured to be rotated under robot control about an additional axis).

[0030] In various embodiments, the additional DOF improves the motion of the robots disclosed herein compared to conventional 6DOF industrial robots. For example, the additional DOF can facilitate reducing or avoiding "singularities" that can occur with conventional 6DOF robots, for example, due to arm segments being improperly positioned or one or more joints or segments interfering with each other or the environment.

[0031] In various embodiments, all available DOFs may be modeled and used in real time to control the robots disclosed herein. Because adding segments and joints (including associated motors / controllers) can increase weight and reduce the speed and motion of the robot, the motor and gearbox modifications disclosed herein may be utilized to reduce the weight of the arm. In some embodiments, lighter materials (such as aluminum tubing, carbon fiber, or plastic) may be used in the construction comprising the robotic arms disclosed herein to reduce weight and improve performance. The robots may be constructed to either ISO 10218 Part-1 or ANSI / RIA R15.06 Part-1 certification to achieve specified safety requirements (such as safety-certified emergency stops). In some embodiments, individual joint / axis-level safety and / or multi-axis safety is provided. In some embodiments, safety-certified soft axis and space-limit requirements are met.

[0032] In some embodiments, the robots disclosed herein may have (7, 8, or more + 1) DOFs. For example, the robots disclosed herein may have 7, 8, or more degrees of freedom and may include a robot arm mounted on a structure that provides the additional degrees of freedom. In some embodiments, the robot control system may determine, based on, for example, rules, criteria, heuristics, sensor data, strategies learned over time by machine learning, etc., to perform a given task using all available DOFs jointly (e.g., the n DOFs of the arm or other manipulator, plus 1 or m > 1 DOFs associated with a robotically controlled “positioning” robot or other robotically controlled positioning structure to which the nDOF robot is attached) (also referred to herein as “global” control), or alternatively, to use an mDOF positioner to place the nDOF robot in a position from which it can (more easily) perform the task.

[0033] In some embodiments, joint motor controllers integrated with the associated motors can reduce weight and / or improve performance by eliminating the complexity and weight associated with running wires from each centrally located controller to its associated motor. Robot-to-load ratios of 1:8-10 to 1:2-3 can be achieved in some embodiments.

[0034] In various embodiments, the robots disclosed herein may have 7 to 9 DOF. The additional DOF, in various embodiments, improves dexterity and / or reduces the robot's null space compared to conventional 6 DOF robots. Robots with seven or more joints, including alternating roll and pitch joints (e.g., RPRPRPR), are provided in some embodiments. In some embodiments, additional DOF are provided by mounting the 7 to 9 DOF robot on a structure at a 45° or other angle (e.g., relative to the ground or other reference surface) to provide additional DOF and additional reach / flexibility.

[0035] Additional DOF, in various embodiments, provides greater flexibility, especially when working in trucks, shipping containers, or other constrained spaces. For example, additional joints allow the robot's "elbow" to rotate out of the way, e.g., to avoid contact with a wall or other adjacent structure. Additional joints also enhance the ability to move faster through the same trajectory without having to encounter or traverse a less efficient trajectory to avoid a singularity.

[0036] FIG. 1 illustrates one embodiment of a robot with seven or more degrees of freedom. In the illustrated example, the robot 100 includes a robotically controlled mobile base 102 to which a 7-DOF robotic arm 104 is attached via a robotically controlled positioning cam 106. The robotic arm 104 has seven DOF, numbered "1" through "7," including a shoulder joint ("1"), three elbow joints ("2," "3," and "4"), and a wrist assembly (including a roll axis "5," a pitch axis "6," and a yaw axis "7"). In the illustrated example, the robotically controlled positioning cam 106 provides an additional ("+1") DOF about a rotation axis 108, which in this example is offset from the mounting point where the shoulder joint "1" of the robotic arm 104 is attached to the positioning cam 106. In various embodiments, the mobile base 102 may be robotically operated to position the mobile base and any structures attached to it to perform a task. Once the mobile base 102 is in place or has reached a destination location, in some embodiments, the positioning cam 106 may be used to pitch the robotic arm 104 forward, for example, to allow the 7DOF robotic arm 104 to reach remote or more remote objects. To reach higher locations (e.g., to grab or place a box or other item on top of a stack or on / from a high shelf), the positioning cam 106 may position the robotic arm 104 vertically, placing its shoulder (joint "1") at a higher position (e.g., above the floor). The positioning cam 106 may be counter-rotated, for example, to facilitate using the robotic arm 104 to grasp an item from (or place an item at) a position near the mobile base 102 (such as a position on the ground near the mobile base 102).

[0037] In some embodiments, all (7+1) DOFs of the robot arm 104 and the positioning cam 106 may be manipulated together to provide “global” control to perform a task. For example, a model of the kinematics of the combined structures (104, 106) may be used to operate the robot arm 104 and the positioning cam 106 as a single 8 DOF robot. In some embodiments, the global control may be selectively used to perform, for example, a portion of a task (such as a particular type or task, or a task performed in a particular condition or context). Alternatively, the robot 100 may be operated as a (7+1) DOF robot, where the positioning cam 106 is positioned in one control motion, for example, to place the 7 DOF robot arm 104 in a desired position, and the 7 DOF robot arm is controlled independently with the “+1” DOF (i.e., the positioning cam 106 in this example) to perform a task.

[0038] FIG. 2 illustrates one embodiment of a system including one or more robots with seven or more degrees of freedom. In the illustrated example, the robotic system and environment 200 includes a first (7+1) DOF robot with a robotically controlled mobile base 202 and a 7 DOF robot arm 204 attached to the mobile base 202 via a positioning cam 206. The first (7+1) DOF robots (202, 204, 206) are shown in an environment including a shelf 208 within the field of view of a wall-mounted camera 210. In various embodiments, sensor data (e.g., RGB and / or depth pixel data) generated by the camera 210 may be used to control the first (7+1) DOF robots (202, 204, 206) to perform tasks within the illustrated environment (e.g., pick / place items (e.g., items 212, 214) from / to the shelf 208).

[0039] In the illustrated example, the first (7+1) DOF robot (202, 204, 206) is configured to communicate via wireless communication with a control computer 216. The control computer 216 is configured to control the first (7+1) DOF robot (202, 204, 206) using one or more kinematic models 218. To perform a particular task, the control computer 216 may use separate kinematic models for the robot arm 204 and the positioning cam 206, for example, to operate the positioning cam 206 under robot control to position the robot arm 204 in a position where it can be manipulated using the 7 DOF kinematic model of the robot arm 204 to perform the task. For example, the positioning cam 206 may be moved vertically to allow the robot arm 204 to (more easily) reach item 212 on the top shelf of shelf 208, or the positioning cam 206 may be moved to the orientation shown in FIG. 2 to allow the robot arm 204 to (more easily) reach item 214 on the bottom shelf. To perform other tasks, the control computer 216 may perform "global" control using a kinematic model that combines and incorporates all 8 DOF of the positioning cam 206 and the robot arm 204. For example, all 8 joints (or any subset of them) may be moved in a determined sequence and combination to cause the positioning cam 206 and the robot arm 204 to operate as a single 8 DOF robot, such as to move item 212 from the top shelf to the middle shelf of shelf 208.

[0040] 2, the system and environment 200 further includes a second robot 220, which is shown operating within a truck or trailer 222 to load (or unload) a box 224. For example, the mobile base of the robot 220 may be operated under robotic control to drive the robot 220 up a ramp to a position within the truck or trailer 222, as shown. In the illustrated example, the robot 220 comprises two (7+1) DOF robotic arms, each comprising a 7 DOF arm attached to the mobile base via a robotically controlled positioning cam. In this example, the robot 220 may be controlled by the same control computer 216 or a separate control computer, for example, based on sensor data generated by a 3D camera or other sensor mounted on, near, or in the truck or trailer 222 and / or on the robot 220.

[0041] In various embodiments, a robot having two or more robotic arms, each with seven or more DOF, may be controlled in a first operational mode (where each robotic arm is separately controlled to perform tasks independently in a manner that avoids collisions or inefficiencies (such as long wait times for one arm while the other arm performs one or more tasks)) or in a second operational mode (also known as "two-handed manipulation," where the robotic arms are used cooperatively to perform tasks in coordination, such as to pick up large or heavy items). In various embodiments, sensor data may be used to determine the respective attributes of the manipulated items and / or to determine and / or order the tasks to be performed. For some tasks, both robotic arms may be used together, as shown in FIG. 2, to pick or place large or heavy items. At other times, each arm may be used independently to perform tasks, such as picking and placing smaller or lighter items.

[0042] In various embodiments, whether the arms are used separately or together, one or both of them may be controlled in the manner described above in connection with the robot 100 of Figure 1. That is, one or both of the robot arms may be operated in one of two control modes: "global" control, or control as a +1 DOF positioning structure used to position a separately controlled 7 DOF arm (also referred to herein as (m+n) control when generalized to any number of mDOF for positioning robots / structures and nDOF for manipulator robots / structures).

[0043] Although the robot 220 shown in FIG. 2 has two (7+1) DOF robotic arms, in other embodiments, the robots disclosed herein may have three or more such arms and / or may have one or more robotic arms that are not the (7+1) DOF robotic arms disclosed herein.

[0044] FIG. 3 is a flowchart illustrating one embodiment of a process for controlling a robot having seven or more degrees of freedom. In various embodiments, process 300 of FIG. 3 may be performed by a control computer (such as control computer 216 of FIG. 2 ) that configures the robotic system. In the illustrated example, at step 302, attributes associated with the task are determined. For example, camera or other sensor data may be used to determine attributes (e.g., dimensions, weight, stiffness, fragility, etc.) of an item to be picked and placed by the robot. At step 304, a determination is made as to whether the task will be performed using “global” control, as described above. For example, one or more rules, heuristics, learned strategies, or other techniques may be applied to determine whether to use “global” control to perform the task. If a determination is made at step 304 to use “global” control, at step 306, a “global” controller is used to generate and implement a plan to perform the task using all or a portion of all available DOFs. Conversely, if it is determined in step 304 that "global" control will not be used, then in step 308, (m+n) controllers are used to generate and implement a plan for performing the task (e.g., a plan to position a manipulator robot having n DOFs using all or a portion of the m DOFs of a positioning robot / structure (e.g., positioning cam 106 in FIG. 1) to perform the task).

[0045] 3, steps 304, 306, and 308 are shown as being performed separately and sequentially, but in some embodiments, one or more of them may be performed simultaneously and / or in parallel or overlapping time periods and / or in a different order than shown in FIGURE 3. For example, steps 306 and 308 may each be performed in whole or in part to generate plans to perform a task using "overall" control (step 306) and (m+n) control (step 308), respectively, and the resulting plans may be evaluated (e.g., by comparing associated costs, scores, weights, weighted scores, etc.) to determine (at step 304) whether to use "overall" control or (m+n) control.

[0046] 3, once a plan to perform the tasks has been determined and implemented at step 310 (steps 306, 308), the process 300 ends if there are no more tasks to be performed, or if more tasks remain, proceeds to the next task at step 312. Subsequent iterations of steps 302, 304, 306, 308, and 310, as applicable, are performed until no more tasks remain, at which point the process 300 of FIG. 3 ends.

[0047] FIG. 4 is a flowchart illustrating one embodiment of a process for training a model used to control a robot with seven or more degrees of freedom. In various embodiments, process 400 of FIG. 4 may be performed to train a robot control system to determine whether to use “global” control or (m+n) control instead, as in step 304 of FIG. 3 , and / or to learn a strategy to perform a task using either “global” control or (m+n) control, as in steps 306 and 308 of FIG. 3 , respectively. In the illustrated example, at step 402, a robot is placed in a training environment and configured for use / training. For example, the robot may be placed in an environment configured to be used to train the robot to perform a specific set or range of tasks. To train the robot to pick and place items to destination locations within the training environment, items of mixed or uniform sizes may be placed at a source location. Cameras (e.g., 3D cameras providing RGB and depth pixels) and / or other sensors may be placed in the workspace or on the robot. Computer vision may be used to understand the current state of the environment and / or to observe as the robot is used to perform various tasks.

[0048] In step 404, the robot is operated in various modes to perform various tasks. Machine learning is used to train models that are subsequently used to autonomously decide which operating mode to utilize (e.g., “global” control vs. (m+n) control) and / or to learn strategies for grasping, moving, and / or placing items. For example, a human operator may remotely control the robot to perform a task. The task may be repeated by the human operator in different operating modes in the presence of different obstacles, safety considerations, etc. The robot may be operated in autonomous modes, for example, using a previously trained model, and results and challenges may be observed by the system, and machine learning (e.g., artificial intelligence) techniques may be used to regenerate or refine the model to make better decisions regarding operating modes when performing operations and / or plans and strategies to use in each mode (e.g., to perform a given task in a given situation).

[0049] At step 406, the model generated or improved at step 404 is stored (see, e.g., model 218 in FIG. 2), and the robotic control system is configured to perform the task using the model. At step 408, the model is updated as needed, for example, through further training or retraining. For example, autonomous operation may be observed in a production environment (rather than a training environment), and the observations may be used to update the model.

[0050] Figure 5 shows one embodiment of a compact design for a robotic joint to provide three or more degrees of freedom. In the illustrated example, a spherical wrist joint 500 provides 3 DOF in a compact design. A ball portion 502 is disposed within a socket portion 504. The socket portion 504 terminates in a forearm segment mount 506 having a first longitudinal axis orthogonal to the mutually orthogonal x- (yaw) and y- (pitch) axes, and the ball portion 502 terminates in an end effector mount 510 having a second longitudinal axis about which the ball portion 502 can be rotated (rolled).

[0051] In various embodiments, the spherical wrist joint 500 provides wrist dexterity in a compact design, at least in part, by keeping roll, pitch, and / or yaw as close to each other as possible.

[0052] In some embodiments, the spherical wrist joint 500 provides roll, pitch, and yaw motion using gears, wheels, or other drive mechanisms (such as having magnets and two (or more) magnetic fields used to create magnetic fields to pull / push the ball in different directions).

[0053] Providing a robot with seven or more DOF, in various embodiments, requires techniques to reduce the weight associated with conventional robotic arm segments, motors, controllers, etc. For example, adding segments and joints (and associated motors and motor controllers), in various embodiments, can add weight and complexity, making it difficult and / or expensive to move and control the elements that make up the robotic arm.

[0054] In various embodiments, one or more techniques disclosed herein may be used to overcome the above technical challenges, such as by reducing the weight and / or complexity of robots with seven or more DOF. Examples include, but are not limited to, one or more of the following: ●Motor design ■Flat wire + hairpin design Better power density, better fitting wires, and Tesla per unit space Better cooling transfer (more kWh / kg) allows the motor to be driven harder ■No extra space between cylindrical wires ■ Liquid / air hybrid cooling Oil in water, spray oil, etc. to extract heat much better than convection Better fins and / or convection area for better exterior cooling Each axis has its own radiator and pump, and each motor / joint has its own liquid cooling ■ Rotor design Halbach array ■ Cancel the field on the inner rotor to reduce losses ■ Strengthening the field on the outer rotor to amplify the magnetic force ■ Generates more force / torque with less motor weight Gear device ○Uses planetary spur gears instead of conventional wave gears Since the precision of the wave gear and backlash reduction are not required, a planetary spur gear with low cost and weight is used. Lightweight, durable gearing provides crash protection and robustness against uncertainty Higher motor force (per weight) allows for smaller gear ratios, which reduces reflected inertia and creates better compliance Accurate and granular specification of motor duty cycle allows you to push the power envelope ■ Not limited to using general-purpose motors with appropriate peak and nominal power In some embodiments, the motor is characterized by 4-5 power levels with different duty cycles and lifespans to maximize power. Motor placement allows for lighter, faster robotic arms in some embodiments A more powerful motor, but placed towards the base of the robot, reducing the lever arm (i.e., the weight of the motor to the lever arm at the base) ○Transmit torque by rod and cable or other means In some embodiments, lighter / higher torque density motors are utilized Adjust the position of the arms and composites to reduce weight, increase reach, and increase DOF An integrated servo motor and controller is used in some embodiments to reduce overall weight ○ Servo drive with very small size (55 x 80 x 37.6 mm) and high power (e.g., 17 kW) GaN inverters, soft switching, and other special controls may be used for high efficiency Servo drives are built with F-Safety for torque limiting, position limiting, stopping speed, and position holding. All the way through F-Safety on Ethercat ■Provides joint-level F safety Boolean joint-level safety (e.g., safety stops when joint X exceeds torque T1 and joint Y exceeds torque T2, or the base cannot rotate (or cannot rotate faster than a certain V) when the arm is fully extended). ■Safety limits for each joint: deflection, maximum V, maximum torque (T), maximum V+T ■ Reduce the safety zone to a space forced by joint-level safety In some embodiments, servo controllers can be integrated into the joints, eliminating the control box entirely ■By simply sending a single DC power line up the arm, encoder and servo cables are completely eliminated. Reduce cost, weight, and / or complexity Link materials Various embodiments use extremely lightweight and robust materials ■ Plastic - Hard plastic that is strong against collisions, and the arm does not need to be stiff. ■ Carbon Fiber (CF) or Aluminum - Designed for cost and manufacturability - thick plates of CF instead of cast designs. More internal exposure, but no issues for logistics. High redundancy of joints for specific applications (loading / unloading trucks, picking / placing on shelves, etc.) ○ Specific environments where operation is extremely difficult (narrow spaces, aisles, low and high, etc.) ○ Additional DOF for positioning ■Workspace positioning joints ([x,y] or rotation) ■Robots with better conditions for the task ○ Vertical lifter added to the whole assembly ■ Positioning joint + Lifting robot ■ Enables high-reaching applications For example, palletization / depalletization Reach the top item ○Loading / unloading trucks or containers Tightly pack items at the top level of the stack / reach items

[0055] In various embodiments, the robots disclosed herein include a positioning robot with m DOFs and a manipulator robot with n DOFs. The nDOF manipulator robot may be connected at a fixed end of the nDOF robot to a free-motion end or distal end of the mDOF positioning robot. The mDOF positioning robot may be used to move the nDOF manipulator robot to a position where the nDOF manipulator robot can perform a task, as described above. In some embodiments, a third robot may be positioned at the free-motion end of the nDOF manipulator robot, or the like, with each intervening robot in the chain configured to be used to move one or more robots further down the chain into position to participate in performing a task.

[0056] FIG. 6 shows one embodiment of a robot with (m+n) degrees of freedom. In the illustrated example, robot 600 includes a positioning robot 602, i.e., a SCARA (“Horizontal Articulated Robot Arm”) or other Cartesian robot configured to move manipulator robot 604 into position. Manipulator robot 604, in some embodiments, has three DOF (roll, pitch, yaw). In the illustrated example, manipulator robot 604 includes springs that provide neutral levitation and / or preload to hold the working end of manipulator robot 604 in a desired position or pose when manipulator robot 604 is not grasping a load, or to lift or support the weight of a grasped item.

[0057] In the illustrated example, the positioning robot 602 is movably mounted at its proximal or (otherwise) fixed end to a vertical post 606 via a vertical linear drive 608 configured to move the proximal end of the positioning robot 602 up and down along the vertical post 606. In various embodiments, the vertical post 606 may be mounted to the floor and / or ceiling or wall of another structure.

[0058] In various embodiments, the manipulator robot 604 is moved to a desired sound location in three-dimensional space by using the vertical drive 608 to position the positioning robot 602 at the desired height (z coordinate) and then using the positioning robot 602 to move the proximal (fixed) end of the manipulator robot 604 to the desired location in the xy plane.

[0059] In various embodiments, a Cartesian robot is provided that has one or more of the following attributes: • SCARA on vertical axis (ball screw or vertical lift) allows reach of Cartesian workspace. The end of the SCARA has a neutrally levitating 3-4 DOF manipulator for orientation and small vertical movements. Part: Stronger springs needed to support the manipulator, motors pull the end down for gripping, neutrally levitating when loaded. Or, change the spring strength f (load) like twisting a rubber band. • The entire robot can tackle a variety of tasks (e.g., shelving, palletization, and truck loading) without having to resist gravity. ●A "ceiling-mounted" design is available to reduce the risk of wrist impact.

[0060] FIG. 7 shows one embodiment of a robot with (m+n) degrees of freedom. In the illustrated example, robot 700 comprises a positioning robot 702 having a manipulator robot 704 attached to the distal or free-moving end of the positioning robot 702. In this example, the positioning robot 702 comprises three segments connected by two "elbow" type joints, with the fixed or proximal end of the positioning robot 702 (on the left as shown in FIG. 7) attached via a shoulder joint to a positioning cam 706, which is in turn rotatably attached to a movable base 708. In the illustrated example, the manipulator robot 704 is a 7 DOF robot arm (such as 7 DOF robot arm 104 of FIG. 1).

[0061] In various embodiments, one or more robot control techniques disclosed herein may be used to control and operate one or both of the positioning robot 702 and the manipulator robot 704. For example, (n+1) control may be used to control the positioning robot 702 to move the manipulator robot 704 to a position to perform a task, or "global" control of the positioning cam 706 and the joints that make up the positioning robot 702 may be used to move the manipulator robot 704 to a position to perform a task. Alternatively, "global" control of the positioning cam 706, the positioning robot 702, and the joints that make up the manipulator robot 704 may be used to perform a task.

[0062] As the examples of Figures 6 and 7 show, the techniques disclosed herein may be used to provide and control a robot comprising one or more positioning robots of any type and number of DOF and one or more manipulator robots of any type and number of DOF, the combined assembly optionally mounted to one or more vertical drives, rails or other linear drives, and / or a movable base to provide additional DOF.

[0063] 8A is a flow chart illustrating one embodiment of a process for controlling a robot having (m+n) degrees of freedom. In various embodiments, process 800 of FIG. 8A may be performed by a control computer (such as control computer 216 of FIG. 2) that configures the robotic system. In the illustrated example, in step 802, a positioning robot is used to move a manipulator robot into position. In step 804, the manipulator robot is used to perform a task.

[0064] FIG. 8B is a flowchart illustrating one embodiment of a process for moving a robot having (m+n) degrees of freedom to a position to perform a task. In various embodiments, process 802 of FIG. 8B may be performed by a control computer (such as control computer 216 of FIG. 2) that configures the robot system. In various embodiments, the process of FIG. 8B may be performed to implement step 802 of FIG. 8A. In the illustrated example, step 822 determines an area in three-dimensional space where the task is to be performed. For example, step 822 may determine an area that includes a source location from which an item is picked and a destination location to which the item is to be placed. Alternatively, in another example, a region that includes multiple items and the space in which they are stacked may be determined. Alternatively, if the task is to turn a knob, the space determined in step 822 may be the space around the knob.

[0065] In step 824, the operating space determined in step 822 is used to determine a location to which the base or proximal end of the manipulator robot must be moved to place the manipulator robot in a position that allows the manipulator robot to reach at least an appropriate portion of the space determined in step 822. In step 826, a plan is generated to operate the positioning robot to move the base of the manipulator robot to the location determined in step 824. In step 828, the plan generated in step 826 is implemented.

[0066] In various embodiments, a robot with seven or more DOFs may comprise two or more robotic arms or other robots, which, in various embodiments, may have one or more structures and associated degrees of freedom in common. For example, a tree or tree-like design may be used, which includes a set of shared base structures and associated degrees of freedom common to the two robotic arms, and additional degrees of freedom that are uniquely associated with one or the other of the robotic arms. In various embodiments, a tree or similar approach, in which several degrees of freedom are common to two or more robotic arms or other robotic devices, may be cost-effective to build and operate, leading to weight savings, energy savings, efficient use of space, and other advantages.

[0067] Figure 9 shows one embodiment of a robot with two robotic arms. In the illustrated example, robot 900 includes a vertical post 902 fixedly coupled to base 903, which is in turn rotatably attached to base 904. A robot-controlled motor (not shown in Figure 9) allows the entire robot 900 to rotate about the vertical axis of post 902. A first robotic arm assembly including a shoulder joint 906, an upper arm segment 908, an elbow joint 910, a forearm segment 912, and a wrist assembly 914 is movably attached to vertical post 902 at shoulder joint 906. A second robotic arm assembly including a shoulder joint 926, an upper arm segment 928, an elbow joint 930, a forearm segment 932, and a wrist assembly 934 is also movably attached to vertical post 902 at shoulder joint 926. A linear drive assembly (not shown in FIG. 9) enables the first and second robotic arm assemblies to move independently and / or coordinately up and down the vertical post 902 .

[0068] In various embodiments, each shoulder joint 906, 926 and elbow joint 910, 930 each provides a single DOF. In various embodiments, the first robotic arm assembly and the second robotic arm assembly each have seven (or more) DOFs, including a shared DOF provided by rotation of the base 903 (and thus the vertical post 902) relative to the base 904, a second independent DOF provided by moving the shoulder 906, 926 up or down the vertical post 902, two additional DOFs associated with the shoulder joints 906, 926 and elbow joints 910, 930 (respectively), and three DOFs (roll, pitch, yaw) associated with the wrist assemblies 914, 934. Additional DOFs (e.g., rotation of the forearm segments 912, 932) may also be provided.

[0069] In various embodiments, the first and second robotic arm assemblies of the robot 900 may be used separately to perform different tasks, or may be used in conjunction (e.g., two-handed operation), for example, to cooperatively pick up large or heavy boxes or other items. For example, the robot 900 may be controlled to rotate the base 903 and vertical post 902 relative to the base 904 to position the first and second robotic arm assemblies on opposite sides of an item. The shoulders 906, 926 may be lowered, and the first and second robotic arm assemblies may be used cooperatively to grasp an item on both sides. The shoulders 906, 926 may then be raised to lift the box or other item above the floor, and some combination of rotation of the base 903 and post 902 relative to the base 904 and movement of the first and second robotic arm assemblies may be performed to move the box to a destination location where, for example, the box may be lowered into place by lowering the shoulders 906, 926.

[0070] In various embodiments, one or both of the first and second robotic arm assemblies of the robot 900 may operate using "whole" control or (m+n) control as disclosed herein. For example, the shoulders 906, 926 may be used to position the first and second robotic arm assemblies, respectively, which may then be controlled separately to perform a task (i.e., (m+n) control). Alternatively, "whole" control of the shoulder + robotic arm assembly or the rotating base 903 + shoulder + robotic arm assembly may be performed.

[0071] In FIG. 9, base 904 is shown as a stationary or fixed base, however, in various embodiments, one or more additional DOFs may be provided by mounting base 904 on a movable structure (such as a rail or other linear track) or on a movable base.

[0072] 10 shows one embodiment of a robot with two robotic arms. In the illustrated example, the robot 1000 includes a shoulder joint 1002 that is rotatably attached to a mount 1004 that is fixed to a mobile base 1006. The shoulder joint 1002 provides the ability to pitch a shared upper arm segment 1008 about the axis of rotation of the shoulder joint 1002. A first robotic arm assembly including a segment 1012, an elbow joint 1014, a forearm segment 1016, and a wrist assembly 1018, and a second robotic arm assembly including a segment 1022, an elbow joint 1024, a forearm segment 1026, and a wrist assembly 1028 are each rotatably attached to the distal end 1010 of the segment 1008.

[0073] In various embodiments, one or more of the first robot assembly, the second robot arm assembly, and the joint at the distal end 1010, the flexion of the shoulder joint 1002, and the rotation of the shoulder joint 1002 relative to the base 1004, and in some embodiments, additional DOF provided by the mobile base 1006, may be operated using either "whole" or (m+n) control as disclosed herein. In various embodiments, the first robot arm assembly and the second robot arm assembly may each be used independently to perform separate tasks, or may be used in conjunction to perform, for example, a two-handed operation (such as to pick a large or heavy item).

[0074] FIG. 11 shows one embodiment of a robot with two robotic arms. In the illustrated example, the robot 1100 includes a turntable 1102 rotatably mounted on a base 1104. A first robotic arm assembly including a shoulder 1106, a segment 1108, an elbow joint 1110, a forearm segment 1112, and a wrist assembly 1114 is movably coupled to the turntable 1102. A drive mechanism (not shown in FIG. 11) enables the first robotic arm assembly to move linearly along a chordal groove or other guide in the turntable 1102. For example, the shoulder 1106 may move inward or outward along a radial groove defined in the turntable 1102. Similarly, a second robotic arm assembly including a shoulder 1126, a segment 1128, an elbow joint 1130, a forearm segment 1132, and a wrist assembly 1134 is movably coupled to the turntable 1102, similar to the first robotic arm assembly.

[0075] In various embodiments, one or more of the first robot assembly, the second robot arm assembly, and the drive configured to move the shoulders 1106, 1126 along the linear grooves of the turntable 1102, the rotation of the turntable 1102, and, in some embodiments, the additional DOF provided by mounting the base 1104 on a movable base, may be operated using either "whole" or (m+n) control as disclosed herein. In various embodiments, the first robot arm assembly and the second robot arm assembly may each be used independently to perform separate tasks, or may be used in conjunction to perform two-handed operations (such as to pick large or heavy items), for example.

[0076] Figure 12 shows one embodiment of a robot with two robotic arms. In various embodiments, robot 1200 of Figure 12 is an example or implementation of a robot (such as robot 1000 of Figure 10) in which the various DOFs associated with one or both of the robot arm assemblies are labeled (e.g., "J7A" relates to only one arm, "J1" relates to both).

[0077] 12, the robot 1200 includes a shoulder joint 1202 that is rotatably attached to a mount 1204 fixed to a mobile base 1206 to provide a first shared DOF "J1." The shoulder joint 1202 provides the ability to pitch a shared upper arm segment 1208 about the axis of rotation of the shoulder joint 1202 (DOF "J2"). A first robotic arm assembly including a segment 1212, an elbow joint 1214 ("J4B"), a forearm segment 1216, and a wrist assembly 1218 ("J5B", "J6B", and "J7B"), and a second robotic arm assembly including a segment 1222, an elbow joint 1224 ("J4A"), a forearm segment 1226, and a wrist assembly 1228 ("J5A", "J6A", and "J7A") are each rotatably mounted to the distal end 1210 of segment 1208 ("J3A", "J3B"). Thus, aside from the DOFs provided by movable base 1206, robot 1200 includes a total of seven DOFs for each robotic arm assembly, two of which are common to the two robotic arm assemblies, and as a result, only one set of motors, motor controllers, gears, cables / wires, and other structures is required to provide that DOF.

[0078] Figure 13 shows one embodiment of a robot with two robotic arms. In various embodiments, robot 1300 of Figure 13 is an example or implementation of a robot (such as robot 1100 of Figure 11) in which the various DOFs associated with one or both of the robot arm assemblies are labeled (e.g., "J7A" relates to only one arm, "J1" relates to both).

[0079] 13, a robot 1300 includes a turntable 1302 rotatably mounted on a base 1304 (DOF "J1"). A first robot arm assembly including a shoulder 1306 ("J3A"), a segment 1308, an elbow joint 1310 ("J4A"), a forearm segment 1312, and a wrist assembly 1314 ("J5A", "J6A", and "J7A") is movably coupled to the turntable 1302 ("J2A"). Similarly, a second robot arm assembly including a shoulder 1326 ("J3B"), a segment 1328, an elbow joint 1330 ("J4B"), a forearm segment 1132, and a wrist assembly 1134 ("J5B", "J6B", and "J7B") is movably coupled to the turntable 1102 ("J2B"), similar to the first robot arm assembly.

[0080] As in the example shown in FIG. 12, seven DOFs are provided in each of the two robot arm assemblies, whereas in the example shown in FIG. 13, only one DOF ("J1") is common to the two robot arm assemblies.

[0081] 14 shows one embodiment of a robot with two robotic arms. In the illustrated example, the robot 1400 includes a turntable 1402 rotatably mounted ("J1") to a base 1404 that is mounted on a movable chassis 1406. The robot 1400 further includes a first robotic arm assembly that is attached to the turntable 1402 via a shoulder joint 1408 ("J2A") and a second robotic arm assembly that is attached to the turntable 1402 via a shoulder joint 1428 ("J2B"). In addition to the shoulder 1408, the first robotic arm assembly includes a segment 1410, a segment 1412 ("J3A"), a segment 1414 ("J4A"), and a wrist assembly 1418 ("J5A", "J6A", "J7A") to which an end effector 1420 is attached. In addition to shoulder 1428, the second robotic arm assembly includes segment 1430, segment 1432 ("J3B"), segment 1434 ("J4B"), and wrist assembly 1438 ("J5B", "J6B", "J7B") to which end effector 1440 is attached.

[0082] As an example shown in FIG. 13, seven DOFs are provided in each of the two robot arm assemblies, with one DOF ("J1") being common to the two robot arm assemblies.

[0083] Figure 15 shows one embodiment of a robot with two robotic arms. In various embodiments, robot 1500 of Figure 15 is an example or implementation of a robot (such as robot 900 of Figure 9) in which the various DOFs associated with one or both of the robot arm assemblies are labeled (e.g., "J7A" relates to only one arm, "J1" relates to both).

[0084] In the example shown in Figure 15, robot 1500 comprises a vertical post 1502 fixedly coupled to base 1503, which is in turn rotatably mounted to base 1504. A robot-controlled motor (not shown in Figure 15) enables the entire robot 1500 to rotate ("J1") about the vertical axis of post 1502. A first robot arm assembly comprising a shoulder joint 1506 ("J2A", "J3A"), an upper arm segment 1508, an elbow joint 1510 ("J4A"), a forearm segment 1512, and a wrist assembly 1514 ("J5A", "J6A", "J7A") is movably mounted to vertical post 1502 ("J2A") at shoulder joint 1506. A second robotic arm assembly having a shoulder joint 1526 ("J2B", "J3B"), an upper arm segment 1528, an elbow joint 1530 ("J4B"), a forearm segment 1532, and a wrist assembly 1534 ("J5B", "J6B", "J7B") is also movably attached to the vertical post 1502 at the shoulder joint 1526 ("J2B"). A linear drive assembly (not shown in FIG. 15) enables the first and second robotic arm assemblies to move independently and / or coordinately up and down the vertical post 1502 ("J2A", "J2B").

[0085] As in the example shown in Figures 13 and 14, seven DOFs are provided in each of the two robot arm assemblies, with one DOF ("J1") being common to the two robot arm assemblies.

[0086] FIG. 16 is a flow chart illustrating one embodiment of a process for controlling a robot with two robotic arms. In various embodiments, process 1600 of FIG. 16 may be implemented by a control computer (such as control computer 216 of FIG. 2). In the illustrated example, at step 1602, sensor data is received, for example, from camera 210 of FIG. 2. At step 1604, the next item to be grasped is determined. For example, the order, position, orientation, etc., in which the next n items will be added to the pallet to perform robotic palletization may be determined. At step 1606, a strategy for grasping each item is determined. If the item is successfully grasped (step 1608), the item is moved (step 1610) to its associated destination (e.g., placed on the pallet at a specified location and orientation). If the item is not successfully grasped, the system may retry (steps 1612, 1606), for example, up to a predetermined number of retries. If the predetermined number of retries has been reached or if no further grasping strategies are available (step 1612), or if the item has been successfully grasped and moved (steps 1608, 1610), it is determined whether further items remain to be grasped in step 1614. If so, processing returns to step 1602 and further iterations of process 1600 are performed; if not, process 1600 ends.

[0087] Figure 17 is a flow chart illustrating one embodiment of a process for controlling a robot with two robotic arms. In various embodiments, process 1606 of Figure 17 may be performed by a control computer (such as control computer 216 of Figure 2). In various embodiments, process 1606 of Figure 17 may be used to perform step 1606 of Figure 16 for a robot with two or more robotic arms, including but not limited to the robots shown in Figures 9-15.

[0088] In the illustrated example, the next item to be manipulated (e.g., picked / placed) is scheduled (i.e., planned) at step 1702. At step 1704, a strategy for grasping the item is selected. If the strategy selected at step 1706 involves grasping the item with two (or more) arms, then at step 1708, both (or all participating) arms are scheduled to grasp the item cooperatively, with each arm participating as shown in the multi-arm grasping strategy selected at step 1704. If a strategy for grasping the item using a single arm was selected at steps 1704, 1706, then at step 1710, a single arm is scheduled to grasp the item using the selected strategy. Once the arms that will participate in grasping the item have been scheduled (steps 1708, 1710), it is determined at step 1712 whether more items remain to be manipulated. If so, process 1606 returns to step 1702 and the next iteration of the process of FIG. 17 is performed; if not, process 1606 ends.

[0089] Various embodiments of robots with seven or more DOF are disclosed. In various embodiments, new lightweight motor designs, new and / or different motor placements, co-location of motor controllers and the motors they drive, simplified gear designs (such as planetary gears), and multi-arm (e.g., "tree" style) designs are disclosed to be used to provide robots with seven or more DOF while achieving high performance, throughput, durability, and safety.

[0090] Although the above-described embodiments have been described in some detail for ease of understanding, the invention is not limited to the details provided. There are many alternative ways of implementing the invention. The disclosed embodiments are illustrative and are not intended to be limiting.

Claims

1. A robot, a positioning robot having m degrees of freedom, a first base end, and a first free motion end; a manipulator robot having n degrees of freedom, the manipulator robot having a second base end mechanically coupled to the first free motion end of the positioning robot, and a second free end configured to receive a robot end effector; Equipped with The robot is configured to operate in a first operational mode in which the positioning robot is controlled to position and move the manipulator robot to a position to perform the task, and the manipulator robot is controlled independently of the positioning robot, and in a second operational mode in which at least some of the m degrees of freedom of the positioning robot and at least some of the n degrees of freedom of the manipulator robot are controlled together by a single controller to perform the task.

2. The robot of claim 1 , wherein the positioning robot has a single degree of freedom.

3. 10. The robot of claim 1, wherein the positioning robot comprises a base structure configured to be rotated about an axis of rotation, the base structure having a mounting location for the manipulator robot offset from the axis of rotation.

4. The robot of claim 3 , wherein the base structure comprises a robotically controlled cam.

5. 10. The robot of claim 1, wherein one or both of the positioning robot and the manipulator robot include robotically controlled spherical joints providing three degrees of freedom.

6. 2. The robot of claim 1, wherein the positioning robot comprises a Cartesian coordinate robot configured to position the second base end of the manipulator robot within an xy plane of the Cartesian coordinate robot.

7. 7. The robot of claim 6, wherein the first base end of the positioning robot is movably mounted to a vertical post, the robot further comprising a robotically controlled linear drive configured to move the first base end of the positioning robot up and down at least a portion of the vertical post.

8. 8. The robot of claim 7, wherein the processor is further configured to operate one or both of the Cartesian robot and the linear drive to move the second base end of the manipulator robot to a selected position in three-dimensional space.

9. 10. The robot of claim 1, wherein the second free end of the manipulator robot is neutrally levitating when unloaded.

10. 10. The robot of claim 1, wherein the second free end of the manipulator robot is neutrally levitating when under load.

11. 2. The robot of claim 1, wherein the manipulator robot includes a first manipulator robot, the robot further comprising a second manipulator robot having a third base end and a third free motion end, the third base end of the second manipulator robot coupled to the first free motion end of the positioning robot.

12. 12. The robot of claim 11, wherein the m degrees of freedom of the positioning robot are shared by the first manipulator robot and the second manipulator robot.

13. 12. The robot of claim 11, wherein the processor is configured to perform a first task with the first manipulator robot while simultaneously performing a second task with the second manipulator robot.

14. 12. The robot of claim 11, wherein the processor is configured to cooperatively use the first manipulator robot and the second manipulator robot to perform a task.

15. 12. The robot of claim 11, wherein the positioning robot comprises a robot-controlled turntable to which both the second base end of the first manipulator robot and the third base end of the second manipulator robot are movably coupled.

16. 16. The robot of claim 15, wherein the second base end of the first manipulator robot and the third base end of the second manipulator robot are movably coupled to a vertical post attached to the turntable, and the second base end of the first manipulator robot and the third base end of the second manipulator robot are configured to be moved independently of one another to corresponding positions along the vertical post.

17. 16. The robot of claim 15, wherein the second base end of the first manipulator robot and the third base end of the second manipulator robot are configured to be moved independently of one another to corresponding positions along a groove or track that defines a path along a chord of the turntable.

18. 10. The robot of claim 1, wherein the first base end of the positioning robot is coupled to a robotically controlled movable chassis.

19. 20. The robot of claim 18, wherein the movable chassis is configured to move along a rail or other linear guide.

20. 20. The robot of claim 18, wherein the movable chassis provides one or more degrees of freedom in addition to the m degrees of freedom of the positioning robot and the n degrees of freedom of the manipulator robot.

21. 1. A robotic system comprising: a communication interface; a processor connected to the communication interface; Equipped with the processor is configured to control, via communications transmitted through the communications interface, a robot comprising: a positioning robot having m degrees of freedom, a first base end, and a first end of free motion; and a manipulator robot having n degrees of freedom, the manipulator robot having a second base end mechanically coupled to the first end of free motion of the positioning robot, and a second end of free motion configured to receive a robot end effector; the processor is configured to control the robot in a first operational mode in which the positioning robot is controlled to move the manipulator robot to a position to perform the task and the manipulator robot is controlled independently of the positioning robot to perform the task, and in a second operational mode in which at least some of the m degrees of freedom of the positioning robot and at least some of the n degrees of freedom of the manipulator robot are controlled together by a single controller to perform the task.

22. 22. The robotic system of claim 21, wherein the processor is configured to select the first operational mode or the second operational mode to perform the task.

23. 23. The robotic system of claim 22, wherein the processor is configured to select the first operational mode or the second operational mode to perform the task using one or more of machine learning models, rules, heuristics, and selection criteria.

24. 23. The robotic system of claim 22, wherein the processor is configured to select the first operational mode or the second operational mode to perform the task using one or more of machine learning models, rules, heuristics, and selection criteria.

25. 23. The robotic system of claim 22, wherein the processor is configured to select the first operational mode or the second operational mode for performing the task using attribute data associated with the task.

26. 26. The robotic system of claim 25, wherein the attributes include attributes of an item manipulated to perform the task.

27. 26. The robotic system of claim 25, wherein the attribute is determined based at least in part on sensor data received via the communication interface.

28. 22. The robotic system of claim 21 , wherein the manipulator robot includes a first manipulator robot, the robot further comprising a second manipulator robot coupled to the positioning robot, and the processor is configured to determine whether to use the first manipulator robot, the second manipulator robot, or both the first manipulator robot and the second manipulator robot to perform the task.

29. 29. The robotic system of claim 28, wherein the processor is further configured to control the positioning robot to position one or both of the first manipulator robot and the second manipulator robot to perform the task.

30. 22. The robotic system of claim 21, wherein the processor is configured to use one or more joints of the positioning robot to hold the manipulator robot in place at a desired pose of the manipulator robot, including when the manipulator robot is grasping an item.

31. 22. The robotic system of claim 21, wherein the processor is configured to apply torques to one or more joints of the positioning robot to slow movement and counter moments of the manipulator robot when the second base end of the manipulator robot approaches a target position in three-dimensional space.

32. 22. The robotic system of claim 21, wherein the processor is configured to initiate movement of the manipulator robot as needed to perform the task while the positioning robot is still being used to move the manipulator robot into position to perform the task.

33. 1. A method of controlling a robot, the robot comprising: a positioning robot having m degrees of freedom, a first base end, and a first free end of motion; and a manipulator robot having n degrees of freedom, the manipulator robot having a second base end mechanically coupled to the first free end of motion of the positioning robot, and a second free end configured to receive a robot end effector, the method comprising: to perform the task, the positioning robot is controlled to move the manipulator robot to a position to perform the task, and the manipulator robot controls the robot in a first operational mode in which it is controlled independently of the positioning robot; controlling the robots in a second mode of operation in which at least some of the m degrees of freedom of the positioning robot and at least some of the n degrees of freedom of the manipulator robot are jointly controlled by a single controller to perform the task; A method comprising:

34. 34. The method of claim 33, further comprising determining whether to control the robot in the first mode of operation or the second mode of operation for a given task.

35. 1. A computer program product for controlling a robot, the robot comprising: a positioning robot having m degrees of freedom, a first base end, and a first free end of motion; and a manipulator robot having n degrees of freedom, the manipulator robot having a second base end mechanically coupled to the first free end of motion of the positioning robot, and a second free end configured to receive a robot end effector, the method comprising: a computer program product embodied in a non-transitory computer readable medium; computer instructions for controlling the robot in a first operational mode in which the positioning robot is controlled to move the manipulator robot to a position to perform the task, and the manipulator robot is controlled independently of the positioning robot, to perform the task; computer instructions for controlling the robots in a second mode of operation in which at least a portion of the m degrees of freedom of the positioning robot and at least a portion of the n degrees of freedom of the manipulator robot are jointly controlled by a single controller to perform the task; A computer program product comprising:

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