Robot systems, methods, and computer program products

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, titled "ROBOTIC SYSTEM TO LOAD AND UNLOAD TRUCKS AND OTHER CONTAINERS", which is incorporated herein by reference for all purposes. BACKGROUND OF THE INVENTION

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

[0003] Industrial robots, such as six-degree-of-freedom robotic arms, are configured to receive commands and are typically equipped with a control device that converts those commands into a set and / or series of control signals for motor control devices associated with each joint and / or degree of freedom. The motor control devices supply current to their respective motors to move the robotic arm in response to the commands.

[0004] Industrial robots, such as six-degree-of-freedom robotic arms, are typically constrained to operate within an operationally available space that is limited by their physical configuration, environment, and control software, as well as by their reach and the poses and orientations they can support. SUMMARY OF THE INVENTION

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

[0006] [Figure 1A] This figure shows one embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0007] [Figure 1B] This figure shows one embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0008] [Figure 2A] This figure shows one embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0009] [Figure 2B] This figure shows one embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0010] [Figure 3A] This figure shows one embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0011] [Figure 3B] This figure shows one embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0012] [Figure 4A] This figure shows one embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0013] [Figure 4B]It is a diagram showing an embodiment of a robot system including a robot arm and a robot-controlled knee joint.

[0014] [Figure 5A] It is a diagram showing an embodiment of a robot system including a robot arm and a robot-controlled knee joint.

[0015] [Figure 5B] It is a diagram showing an embodiment of a robot system including a robot arm and a robot-controlled knee joint.

[0016] [Figure 6A] It is a diagram showing an embodiment of a robot system including a robot arm and a robot-controlled knee joint.

[0017] [Figure 6B] It is a diagram showing an embodiment of a robot system including a robot arm and a robot-controlled knee joint.

[0018] [Figure 6C] It is a diagram showing an embodiment of a robot system including a robot arm and a robot-controlled knee joint.

[0019] [Figure 7A] It is a diagram showing a rear view of an embodiment of a robot system including a robot arm and a robot-controlled knee joint.

[0020] [Figure 7B] [[ID=四十二]]It is a diagram showing a top view of an embodiment of a robot system including a robot arm and a robot-controlled knee joint. [[ID=四十三]] [[ID=四十四]] [[ID=四十五]]

[0021] [[ID=四十六]] [[ID=四十七]] [Figure 7C]This figure shows a top view of one embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0022] [Figure 8A] This figure shows one embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0023] [Figure 8B] This figure shows one embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0024] [Figure 9A] This figure shows one embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0025] [Figure 9B] This figure shows one embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0026] [Figure 9C] This figure shows one embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint.

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

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

[0029] [Figure 11]This flowchart illustrates one embodiment of a process for controlling a robotic system comprising a robotic arm and a robotically controlled enabler joint.

[0030] [Figure 12A] This figure shows one embodiment of a robot-controlled guidance mechanism.

[0031] [Figure 12B] This figure shows one embodiment of a robot-controlled guidance mechanism.

[0032] [Figure 13A] This figure shows one embodiment of a robot-controlled guidance mechanism.

[0033] [Figure 13B] This figure shows one embodiment of a robot-controlled guidance mechanism.

[0034] [Figure 14A] This figure shows one embodiment of a robot-controlled guidance mechanism.

[0035] [Figure 14B] This figure shows one embodiment of a robot-controlled guidance mechanism.

[0036] [Figure 15] This figure shows one embodiment of a robot-controlled system for rerouting and reordering items.

[0037] [Figure 16A] This figure shows one embodiment of a robot-controlled loading system for loading onto trucks or other containers.

[0038] [Figure 16B] This figure shows one embodiment of a robot-controlled loading system for loading onto trucks or other containers.

[0039] [Figure 16C] This figure shows one embodiment of a robot-controlled loading system for loading onto trucks or other containers.

[0040] [Figure 17] This figure shows one embodiment of a robot-controlled loading system for loading onto trucks or other containers. [Modes for carrying out the invention]

[0041] The present invention can be implemented in a number of ways, including processes, apparatus, systems, compositions, computer program products embodied in computer-readable storage media, and / or processors such as processors configured to execute instructions stored in and / or provided by memory coupled to a processor. In this specification, these implementations, or any other forms the present invention can take, may be referred to as techniques. Generally, the order of the steps of the disclosed process may be modified within the scope of the invention. Unless otherwise specified, components such as processors or memory described as configured to perform a task may be implemented as general components temporarily configured to perform that task at a given time, or as specific components manufactured to perform that task. As used herein, “processor” means one or more devices, circuits, and / or processing cores 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 accompanying drawings illustrating the principles of the present invention. While the present invention is described in relation to such embodiments, it is not limited to any embodiment. The scope of the present invention is limited only by the claims, and the present invention encompasses numerous alternative forms, modifications, and equivalents. Numerous specific details are described below to provide a complete understanding of the present invention. These details are provided for illustrative purposes, and the present invention may be carried out in accordance with the claims without some or all of these specific details. For clarity, known technical materials in the art relating to the present invention are not 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 robotic arm, by incorporating additional joints, sometimes referred to herein as “enabler” joints, to provide additional degrees of freedom, greater reach, and / or additional flexibility. In various embodiments, additional degrees of freedom are provided around axes that are neither 0° nor perpendicular to the longitudinal (e.g., roll) axis of the robot's base. In some embodiments, the enabler joint is controlled by a control device that operates separately from but in conjunction with the robotic control device of the robotic arm (or other robot). In some embodiments, an integrated control device is provided and used, which integrally controls the enabler joint and the robotic joint, and controls the respective motor control devices to move the enabler joint and other joints in conjunction to move the robot through a trajectory in the extended operational space of the enabler joint that the robot can reach.

[0044] Figure 1A shows an embodiment of a robotic system comprising a robotic arm and a robot-controlled enabler joint. In the illustrated example, the robotic system 100 includes a robot-controlled movable chassis 102, on which a robot-controlled conveyor 104 is mounted along the central longitudinal axis of the chassis 102. The robotic arm 106 is rotatably mounted on the chassis via an enabler joint comprising a transfer plate 108 and an enabler joint base 110 fixedly mounted on the chassis 102. In various embodiments, as will be further described below, the enabler joint further includes a robot-controlled enabler joint motor (not shown in Figure 1A) and an associated motor control device configured to be used to rotate the transfer plate 108 around the rotation axis of the enabler joint.

[0045] In the illustrated example, the robot 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 robot arm 106 includes a 6-degree-of-freedom robot arm, where the degrees of freedom are substantially perpendicular to the mounting plane of the waist joint (base 106a). Exchange It includes a rotation of the base 106a around an axis, a shoulder joint comprising the base 106a (flexion around the rotation axis of the shoulder joint), flexion and rotational degrees of freedom associated with the elbow joint 106c and / or forearm 106d, and flexion and rotational (or yaw) degrees of freedom associated with the wrist joint 106e and / or link 106f.

[0046] In the example shown in Figure 1A and described in the preceding paragraph, the robot arm comprises a base and two links continuously connected by a robot-operated joint, each having two degrees of freedom. 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 n degrees of freedom of the robot arm, representing the degrees of freedom provided by each joint and / or link of the given robot arm.

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

[0048] In various embodiments, a control computer, such as the control computer 114 in Figure 1A, controls one or more of the chassis 102, conveyor 104, robotic arm 106, enabler joints 108, 110, and end effector 112, individually or in combination (e.g., simultaneously) to perform tasks or a set of tasks related to a robotic "application" in which the robotic system 100 is deployed and configured to function. Examples, but not limited to, include loading or unloading trucks or other containers, stacking items onto or removing items from pallets or other containers, and assembling kits from items on or inside shelves, bins, or other containers.

[0049] For example, in some embodiments, the robot system 100 may be used to load items onto trucks or other containers. As illustrated in Figure 1A, items may arrive at the left end of the conveyor 104 from, for example, an upstream conveyor or another source of items. The conveyor 104 may be operated under robotic control to advance items toward a robotic arm 106 located to the right of the conveyor 104, as illustrated in Figure 1A, and the robotic arm 106 and / or enabler joints 108, 110 may be operated under robotic control to pick up items from the conveyor 104 and place them on a truck (or other destination). A visual or other perceptual system, provided by the control computer 114 based on input from, for example, a camera mounted on or near the robot system 104 (not shown in Figure 1A), may be used to generate a three-dimensional view of the workspace and the items arriving via the conveyor 104. The control computer may determine the attributes of an item using a database or other repository of knowledge about incoming items, which may be used to determine and implement a plan for picking up and placing the item using one or more of the robot-controlled means, including the robot system 100, such as a chassis 102, a conveyor 104, a robotic arm 106, enabler joints 108, 110, and an end effector 112. For example, the robotic arm 106 and the enabler joints 108, 110 may work together 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 by the control computer 114 based on its attributes and an estimated state of a pile, stack, or other arrangement of pre-placed items.

[0050] In various embodiments, the control computer 114 may communicate with one or more control devices, including the robot system 100, for example, via wireless or wired communication. For example, separate control devices may be provided mounted on one or more of the chassis 102, conveyor 104, enabler joint assemblies 108, 110, and / or robot arms 106 and end effectors 112 to control their respective robot-controlled means. Each control device may provide low-level control signals to one or more motor control devices to cause the motor control devices to supply current to associated motors, such as joint motors associated with degrees of freedom or robot arms 106, so as to actuarially on the associated joints to actuarially on the associated joints to pick up an item, move it along the track, and position the end effector 112 to place the item at its destination.

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

[0052] Figure 1B shows an embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint. Specifically, a rear view of the robotic system 100 of Figure 1A is shown. In the illustrated example, the robotic arm 106 is shown mounted on a transmission plate 108 such that the mounting portion of the transmission plate 108 is in a plane substantially parallel to the ground at a neutral or central position as shown in Figure 1B. The mounting portion is connected to a main body portion oriented at an angle of inclination corresponding to the inclination angle of the upper part of the enabler joint base 110 as shown. The 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 extending through the enabler joint base 110 so as 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, and the enabler joint motor 122 is connected to the enabler joint assembly 108, 11 0 The enabler joint allows the transmission plate 108 to be operated under robotic control so as to rotate around the rotation axis 124.

[0053] In the example shown in Figure 1B, the robot system 100 includes a second robot arm 116 mounted on the left side of the conveyor 104 (as shown) opposite the first robot arm 106. The robot arm 116 is mounted on an enabler joint assembly, which is connected to enabler joint assemblies 108, 11 on which the robot arm 106 is mounted. 0 The system includes a transmission plate 118, an enabler joint base 120, and an enabler joint motor 126 and associated rotation axis 128, having geometric shapes, structures, and arrangements that substantially reflect the corresponding elements.

[0054] In various embodiments, the robotic arms 106, 116 and their respective enabler joint assemblies may operate simultaneously, alternately, and / or jointly to pick up items from the conveyor 104 and place them at a destination (e.g., loading onto a pallet or onto a truck) and / or to place them from a source to the conveyor 104 (e.g., unloading from a pallet or onto a truck). For example, the robotic arms 106, 116 may be used individually, but coordinated by the control computer 114, to pick up items one by one from the conveyor 104 and place them at their corresponding destinations, e.g., pallets, trucks, or other containers. In some embodiments, the robotic arms 106, 116 may be used together to collaboratively pick up and place a single item, such as a large and / or heavy box or other item.

[0055] Figure 2A shows an embodiment of a robotic system comprising a robotic arm and a robot-controlled enabler joint. In the illustrated example, both the transmission plate 108 and the transmission plate 118 are in a neutral or centered position. In the illustrated embodiment, because the transmission plates 108 and 118 are in a neutral centered position, the bases of the robotic arms 106 and 116, respectively, are in a plane parallel to the ground as a result of the geometric shapes of the transmission plates 108 and 118. Specifically, the mounting points of the transmission plates 108 and 118, respectively, are parallel to the ground.

[0056] Figure 2B shows an embodiment of a robotic system comprising a robotic arm and a robot-controlled enabler joint. In the state shown in Figure 2B, the transmission plate 118 is rotated backward around the axis 128 in the direction indicated by arrow 202 by the operation of the motor 126. As a result, the mounting point of the transmission plate 118 is tilted backward and slightly off from 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 the axis 128) from the point on the axis 128 to which the transmission plate is mechanically coupled with the axis of the motor 126, and from the acute angle (not 0° or perpendicular) to which the axis 128 is oriented with respect to the vertical, resulting in the mounting point and the base of the robotic arm 116 mounted thereon following an elliptical path.

[0057] In various embodiments, the characteristic described in the previous paragraph, that the transfer plate 118 and robotic arm 116 move both backward and away from the conveyor 104, can be advantageously used by a robotic control system, as disclosed herein. For example, the system may decide to rotate one or both of the transfer plates 108 and 118, as well as the associated robotic arms 106 and 116, backward (or forward) and outward to create space for, for example, wide boxes or other items to pass between them, and / or to enable both robotic arms 106 and 116 to work together to grasp a large box. For example, by slightly swiveling the arms outward, the robotic arms 106 and 116 may be able to jointly grasp an item using more preferred postures and / or techniques, such as postures and / or techniques to avoid control singularities, or postures and / or techniques to avoid postures that are difficult or impractical to achieve or return to, or to avoid collisions.

[0058] Figure 3A shows one embodiment of a robotic system comprising a robotic arm and a robot-controlled enabler joint. In the illustrated example, the transfer plate 108 is rotated backward, and as a result, the robotic arm 106 is positioned further rearward and further outward relative to the conveyor 104. In various embodiments, by using enabler joints 108, 110 to position the robotic arm 106, the robotic arm 106 may be used to grasp (or place) items further behind the conveyor 104, as shown. Such capability may allow the robotic arm 116 to be used simultaneously or nearly simultaneously to grasp (or place) items at a location further to the right of the conveyor 104, for example, as shown. Furthermore, at the position shown in Figure 3A, the robotic arm 106 may be in a better position for grasping (or placing) items from (or at) a location near the front of the chassis 102 on the same side as the robotic arm 106.

[0059] Figure 3B shows an embodiment of a robotic system comprising a robotic arm and a robot-controlled enabler joint. In the illustrated example, the transfer plate 108 is rotated forward to the illustrated position. In various embodiments, by using enabler joints 108, 110 to tilt the robotic arm 106 forward and slightly outward as illustrated, the robotic arm may be able to reach / place items at a greater height and / or distance from the chassis 102, or extend across the front of the chassis 102 to pick up / place items at a location near the front of the chassis 102 on the opposite side of the robotic arm 106.

[0060] Figure 4A shows an embodiment of a robotic system comprising a robotic arm and a robot-controlled enabler joint. In the illustrated example, the transmission plate 108 is rotated forward to the position shown in Figure 3B.

[0061] Figure 4B shows an embodiment of a robotic system comprising a robotic arm and a robot-controlled enabler joint. Figure 4B shows a top view of the robotic system having a robotic arm 106 that is tilted forward. In the illustrated example, the resulting positioning of the robotic arm 106 is used to pick up / place an item 402 at a location near the front of the chassis 102, extending across the front of the chassis 102 and opposite to the robotic arm 106.

[0062] Figure 5A shows an embodiment of a robotic system comprising a robotic arm and a robotically controlled enabler joint. In the illustrated example, the conveyor plate 108 is rotated forward, and the robotic arm 106 extends forward and relatively far back above the chassis 102 to pick up / place an item 502 on top of a stack of boxes, for example, as shown. In various embodiments, a robotic control system, for example, the control computer 114 in Figure 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] Images or other sensor data may be provided to a visual or perceptual system configured to receive and generate a three-dimensional view of at least a relevant portion of the workspace. The control computer may advance the chassis 102 to the position shown, for example, in Figure 5A, advance the conveyor 104 to a position where, for example, items 504, 508 will be picked up / placed, and operate the robotic arm 106, enabler joints 108, 110, and end effector 112 to perform tasks related to a higher purpose. For example, in the example shown in Figure 5A, the control computer may position the chassis 102 as shown, and advance the conveyor 104 to place item 502 at a location where the robotic arm 106 could be used to pick up and place item 502 at the shown position. The control computer may synchronously operate the robot arm 106 and the enabler joints 108, 110, including the enabler joints 108, 110 and the robot arm 106, through seamless, fluid, and at least partially simultaneous movements of the elements.

[0064] In various embodiments, the control computer may be configured to determine a more sophisticated plan for stacking items as shown, by means of, for example, training, machine learning, artificial intelligence, heuristics, and other techniques, either alone or in combination. For example, to load items onto 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 a series of alternating layers of staircase-like items, as shown in Figure 5A. For example, after the boxes indicated by the crosshatch are initially placed, the chassis 102 may be moved back to the shown position so that boxes not occupied by the crosshatch can be placed as shown. In this example, after placing item 502 on top of the stack, the control computer may move the chassis 102 back further away from the stack so that, for example, incoming items 504, 508 can be used to form the next set of “staircases”.

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

[0066] Figure 6A shows one embodiment of a robotic system comprising a robotic arm and a robot-controlled enabler joint. In the illustrated example, both the transmission plate 108 and robotic arm 106 and the transmission plate 118 and robotic arm 116 are rotated backward and, by extension, slightly outward. As a result, a wider space becomes available for item 602 to pass between the transmission plate 108 and robotic arm 106 on one side and the transmission plate 118 and robotic arm 116 on the other side.

[0067] In various embodiments, vision, label scanning, laser, or other optical sensors, or other sensors, may be used to detect that an item requiring a larger gap must pass between the enabler joint and / or robotic arm, and in response, the control computer positions the enabler joint and robotic arm in the positions illustrated in Figure 6A.

[0068] Figure 6B shows an embodiment of a robotic system comprising a robotic arm and a robot-controlled enabler joint. Specifically, the robotic system 100, configured as shown in Figure 6A, is shown from a side view. The diagram in Figure 6B shows that by rotating the enabler joint and the robotic arm backward, cooperative picking up and placing of an item 602 by two robots can be facilitated. For example, the robotic arm 106 can be positioned in a posture that is convenient for placing its end effector 112 at the center of the face of the item 602 closest to the robotic arm 106.

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

[0070] In Figure 6C, the ellipse 606 indicates an elliptical path that the base of the robot arm 106 may follow as the enabler joints 108, 110 are rotated backward or forward from the central / neutral position in which it is closest to the conveyor 104.

[0071] Figure 7A is a rear view of one embodiment of a robotic system comprising a robotic arm and robotically controlled enabler joints. In the illustrated example, enabler joints 108, 110 and robotic arm 106 are rotated forward, and enabler joints 118, 120 and robotic arm 116 are rotated backward. In various embodiments, rotating one arm forward and the other backward has a similar effect to a human worker turning their shoulders to perform a task.

[0072] Figure 7B is a top view of one embodiment of a robotic system comprising a robotic arm and robotically controlled enabler joints. In the illustrated example, as shown in Figure 7A, enabler joints 108, 110 and robotic arm 106 are rotated forward, and enabler joints 118, 120 and robotic arm 116 are rotated backward. Robotic arms 106, 116 are used to collaboratively grasp and lift item 702 from conveyor 104.

[0073] Figure 7C is a top view of one embodiment of a robotic system comprising a robotic arm and robotically controlled enabler joints. In the illustrated example, forward rotation of enabler joints 108, 110 and robotic arm 106, and backward rotation of enabler joints 118, 120 and robotic arm 116 have a similar effect to a human worker turning their shoulders to perform a task, as indicated by a line 704 passing through the repositioned bases of 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 illustrated, 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 can be moved and positioned to the illustrated location more effectively without the robot arm 116 being placed in an unfavorable or inferior position, for example, without the robot arm 116 contacting a track or other obstacle or constraint side wall in the workspace.

[0074] In some embodiments, the control computer may be programmed or configured to perform cooperative pick-up and placement, as illustrated in Figures 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 when a human operator operates the robotic system 100 in various ways to perform different tasks under dynamic conditions. The control computer, given conditions under Learning can be done from observation strategies that are more likely to result in successful picking and placement.

[0075] Figure 8A shows an embodiment of a robotic system comprising a robotic arm and robotically controlled enabler joints. In the illustrated example, enabler joints 108, 110 and robotic arm 106, and enabler joints 118, 120 and robotic arm 116 are in a central / neutral position. In view of the geometric shapes of the transmission plates 108, 118 and the angles of the rotation axes 124 and 128, the positions of the enabler joints (108, 110 and 118, 120) as shown in Figure 8A result in the mounting points on which the bases of the robotic arms 106, 116 are mounted being substantially parallel to the ground, i.e., the same vertical orientation as if the robotic arms 106, 116 were mounted directly on top of the chassis 102.

[0076] Figure 8B shows an embodiment of a robotic system comprising a robotic arm and a robot-controlled enabler joint. In the illustrated example, the geometric shapes of the transfer plates 808 and 818 differ from the geometric shapes of the corresponding structures (transfer plates 108, 118) in Figure 8A, and as a result, when the enabler joints (808, 110 and 818, 120) are in the center / neutral position, the robotic arms 106, 116 are tilted inward toward the conveyor 104.

[0077] In Figure 8B, the robotic system is shown deployed inside a truck or transport container 802. In this example, the use of transfer plates 808 and 818, which consequently cause the robotic arms 106 and 116 to be slightly inclined inward toward the conveyor 104, may make it easier for the robotic arms 106 and 116 to be used to pick up / place items between the conveyor 104 and the truck or container 802 without risking collision with the side walls of the truck or container 802.

[0078] In various embodiments, custom-made or off-the-shelf transmission boards may be manufactured or selected. The control computer,The enabler joint and robot arm are configured or programmed to control the robot arm based on the geometric shape of the transmission plate. 。 In some embodiments, the orientation of the enabler joint axes 124, 128 may also be changed accordingly. The control computer, Adapted to control enabler joints and robotic arms. 。

[0079] Figure 9A shows an embodiment of a robotic system comprising a robotic arm and a robot-controlled enabler joint. In the illustrated example, the robotic system 900 includes the elements of the robotic system 100 in Figures 1A and subsequent figures, and further includes a mounting pole or boom 902 on which cameras 904, 906, and 908 are mounted to provide a viewpoint of the stack built by the robotic system 900, the front and foot areas of the chassis 102, and items (e.g., 504, 508) delivered via the conveyor 104.

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

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

[0082] Figure 9B shows an embodiment of a robotic system comprising a robotic arm and a robot-controlled enabler joint. In the illustrated example, the enabler joints 108, 110 and the robotic arm 106 are tilted backward, 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-facing 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-up / placement task and / or to evaluate the results of the task.

[0083] Figure 9C shows an embodiment of a robotic system comprising a robotic arm and a robot-controlled enabler joint. In the illustrated example, the pole 902 in Figures 9A and 9B is shown supporting one end of a crossbar 924, which is supported at the opposite end by a pole 926. Forward-facing 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 Figure 9A. Downward-facing camera 936 provides a view of the ground in front of the robotic system 900, for example, just in front of the chassis 102, as in the example illustrated in Figure 9B.

[0084] The camera 936, which is showing the area below, is shown to have a wider field of view than the cameras 932 and 934, which are showing the area in front, making it possible to view the ground in front of the chassis 102 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 enable the construction of a 3D viewpoint of the workspace.

[0086] Figure 10A is a block diagram showing one embodiment of the control architecture of a robotic system comprising a robotic arm and robotically controlled enabler joints. In the illustrated example, a camera 1002 and (optionally) other sensors 1004 provide input to a control computer 1006, for example, the control computer 114 in Figure 1A. In the illustrated example, the control computer 1006 sends commands to an enabler joint control device 1008 to control one or more enabler joints, and separately but in conjunction sends commands to a robotic arm control device 1012. The enabler joint control device 1008 sends lower level (e.g., torque) commands to an enabler joint motor control device 1010 and sensors located in or associated with the enabler joint, and / or the enabler joint motor sends back feedback signals (e.g., position, temperature) to the control computer 1006 via the enabler joint control device 1008. Similarly, the robot arm control device 1012 sends low-level commands to the joint motor control device, which includes the robot arm, thereby sequentially supplying current to each joint motor 1014 to move the robot arm and its components as calculated to perform a given task, such as a pick-up / placement task or part thereof. Likewise, sensor information from or related to the joint motors may be fed back to the control computer 1006 via the robot arm control device 1012.

[0087] In various embodiments, the control system and architecture illustrated in Figure 10A may enable the use of a commercially available robot arm having associated robot arm control devices configured to be used to control and operate the robot arm in order to operate the robot arm through an extended working space defined at least partially by the n degrees of freedom of the robot arm and the (n+1)th degree of freedom provided by the enabler joint, as disclosed herein, and enabler joints and associated control devices may be obtained from, for example, a third-party vendor and used in an integrated manner.

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

[0089] Figure 11 is a flowchart illustrating one embodiment of a process for controlling a robotic system comprising a robotic arm and a robot-controlled enabler joint. In various embodiments, the process 1100 in Figure 11 is performed by a control computer such as the control computer 114 in Figure 1A, the control computer 1006 in Figure 10A, or the control computer 1026 in Figure 10B. In the illustrated example, at 1102, inputs from the camera and (optionally) other sensors are received. At 1104, the received camera / sensor data is used to generate or update a three-dimensional viewpoint of the workspace. At 1106, the next item to be picked up / placed is determined, 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 / placement is not performed successfully (1110), error handling is performed at 1112. For example, the next course of action / plan for picking up / placing an item may be determined and tried, or human assistance may be requested. If the picking up / placing is successful (1110) and it is determined that further items need to be picked up / 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 up / place the next item. This process continues until all items have been picked up / placed (1114).

[0090] In various embodiments, the techniques disclosed herein may be used to extend the range of motion, functionality, and / or flexibility of a robot, such as a 6-degree-of-freedom or other robotic arm.

[0091] Figure 12A shows one embodiment of a robot-controlled guidance mechanism. In various embodiments, the mechanism 1200 of Figure 12A may be used to facilitate or control the transfer of items from an upstream supply and transport structure 1202 to a robot-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, illustrated in position for pushing an item 1204 from the supply and transport structure 1202 to the receiving (rear) end of a conveyor 104 on a robot-controlled movable chassis 102. The pusher 1208 is coupled via a joint 1210 and an upper link 1212 to a robot-controlled (or otherwise) controlled bidirectional motorized joint 1214, which is mounted overhead in this example.

[0092] In the state illustrated in Figure 12A, the motor-driven joint 1214 may be operated clockwise to cause the pusher 1208 to push the box 1204 from behind onto the conveyor 104. In subsequent operations, the motor-driven joint 1214 may be operated counterclockwise (as shown) to lift and move the pusher 1208 as further items arrive via the transport structure 1202, and clockwise operation of the motor-driven joint 1214, for example, will allow the pusher 1208 to move item 1206 to a position where it can be positioned behind item 1206.

[0093] In various embodiments, upstream operators or systems not shown in Figure 12A, such as human operators, robotic operators, or a combination of humans and robots, work to place items onto the transport structure 1202 and advance them to a position near the guidance mechanism 1200. Motor-driven conveyors, roller-type transporters that utilize gravity and human or other operators to advance items, or a 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 (from cameras such as those illustrated in Figures 9A, 9B, and 9C, and / or from other cameras) to monitor the condition of items on the conveyor 104 arriving via the transport structure 1202. As the quantity and / or density of items on the conveyor 104 decreases, the guidance mechanism 120 0 It operates to push (more) items onto conveyor belt 104, or to operate more quickly.

[0095] Figure 12B shows one embodiment of a robot-controlled guidance mechanism. In the illustrated example, an extendable bridge 1220 is provided and is arranged to facilitate the transfer of items from a transporter 1202 to a conveyor 104. In the illustrated example, the extendable bridge 1220 comprises a spring-like or pincer-like structure having rollers positioned at an upper joint to allow items to roll over the 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 to maintain engagement as the movable chassis 102 enters or exits a truck or other container being loaded or unloaded, for example. In some embodiments, the extendable bridge 1220 may be spring-suspended, allowing some of the initial impact of the movement of the movable chassis 102 entering or exiting a truck or other container to be absorbed, while maintaining connection and engagement.

[0096] In the example illustrated in Figure 12B, the transport structure 1202 has a variable height leg at the end closest to the conveyor 104, which includes a fixed upper leg 1222 and a variable-length nesting lower leg 1224. The variable height leg allows the height of the transport structure 1202 to be adjusted at its end, for example, to allow the extendable bridge 1220 to be positioned as illustrated, and so that gravity assists in the transfer of items from the transport structure 1202 to the conveyor 104. In some embodiments, a person or other worker 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 robot-controlled guidance mechanism. In the illustrated example, a linear actuator assembly comprising a fixedly mounted housing and actuator 1302 and a stroke rod or shaft 1304 that is linearly movable within the housing and actuator 1302 by the operation of an actuator (e.g., a motor, a gearbox, and a lead screw, or other linear actuator) not shown in Figure 13A, is configured to move a unidirectional flap 1306 suspended from the stroke rod or shaft 1304 as shown. In the state illustrated in Figure 13A, the stroke rod or shaft 1304 is moved to the right by the operation of the housing and actuator 1302, and as a result the unidirectional flap 1306 opens when it comes into contact with item 1204.

[0098] Figure 13B shows one embodiment of a robot-controlled guidance mechanism. In the illustrated example, the flap 1306 is moved behind the item 1204 and is actuated to move the stroke rod or shaft 1304 and the unidirectional flap 1306 to the left as shown. A mechanical stopper 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 shown, and as a result, the flap 1306 pushes the item 1204 to the left and onto the conveyor 104. The linear actuation mechanisms 1302, 1304 then repeat the actions shown in Figures 13A and 13B with respect to the item 1206.

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

[0100] Figure 14A shows one embodiment of a robot-controlled guidance mechanism. In the illustrated example, a chain of linearly actuated unidirectional flaps 1402, 1404, 1406, 1408, 1410, and 1412 are provided. In various embodiments, multiple boxes or other items of different sizes must be fed from a supply conveyor, such as a conveyor 1202, to a conveyor 104. Typically, larger boxes must advance further than smaller boxes (e.g., along the conveyor 1202) in order for a given set of flaps to close behind the boxes. In various embodiments, as illustrated in Figure 14A, independently actuated chain of flaps may be used, and a first set of flaps that fully engages with a given box may be used to pull / push that box into the conveyor 104.

[0101] Figure 14B shows one embodiment of a robot-controlled guidance mechanism. In the illustrated example and state, item 1204 first passed through (i.e., between) flaps 1410, 1412, but these flaps did not extend far enough toward the center of the conveyor 1202 to engage with item 1204 and pull / push it in. As illustrated, item 1204 then passed completely through flaps 1406, 1408, which are fully engageable with item 1204 from behind as shown. It is shown that flaps 1406 and 1408 are actuated by independently operable linear actuators, for example (not shown in Figure 14B), which move flaps 1406, 1408 toward the conveyor 104, thereby pulling / pushing item 1204 toward the conveyor 104.

[0102] In various embodiments, the chain of independently operable sets of flaps shown in Figures 14A and 14B are operated under robotic control, as described above, to facilitate the movement of items onto the conveyor 104, for example, to ensure a steady flow of items onto the conveyor 104 at a desired inflow rate. For example, images generated by a camera may be used to determine a first set of flaps that can fully engage with a given item from behind, and commands or signals may be sent to cause that set of flaps to pull / push the item onto the conveyor 104.

[0103] Figure 15 shows one embodiment of a robot-controlled system for diverting and reordering items. In the illustrated example, the robot system 1500 includes a movable platform 1502, a central conveyor 1504, and a pair of robotic arms positioned on either side of the platform 1502. Items, such as item 1518, arrive via a supply transport structure 1520. In the illustrated configuration, a robot-controlled diverter 1522 is positioned to divert item 1518 to a lateral conveyor 1524. The lateral conveyor 1524 may be mounted on the movable platform 1502 or positioned alongside the movable platform 1502. The lateral conveyor 1524 is operated under robot control to store item 1518, for example, by retracting it into an accumulator 1526 (downward as shown). 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. Item 1518 may be placed in one of the designated containers. When the system 1500 is ready to handle item 1518, the container holding item 1518 may be positioned. The actuator, which includes an accumulator 1526, Activated to move item 1518 to the side conveyor 1524. obtain. For example, the accumulator may use a pusher mechanism or an inclined shelf to discharge item 1518. The lateral conveyor 1524 may operate to assist in pulling item 1518 forward (upward as shown) from the accumulator 1526 to the lateral conveyor 1524. The lateral conveyor 1524 then continues to advance item 1518 until it engages with a diverter 1528 to which it is fixed (in this example), and the diverter 1528 then diverts item 1518 to a main central conveyor 1504, which in turn receives and positions item 1518 for acquisition by one or both of the robot arms 1506, 1516.

[0104] In various embodiments, the robotic systems disclosed herein may autonomously decide to divert items, such as item 1518 in the above example, for one or more motives, such as reordering items for loading onto a truck or other container. For example, if a base layer has been constructed and a large, heavy item 1518 is expected to arrive via the supply conveyor 1520, the robotic system may decide to divert item 1518 to the accumulator 1526, as described above, in order to first receive and load smaller items that are expected or anticipated to arrive after item 1518. For example, a computer vision system may look at items that will arrive after item 1518 and, based on their perceived size and / or examined attributes, determine whether it would be advantageous to place those items before placing item 1518. Alternatively, the system may have an invoice or cargo 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 items arriving after item 1518 are more suitable to handle next.

[0105] Figure 16A shows one embodiment of a robot-controlled loading system for loading trucks or other containers. In the illustrated example, the robotic truck / container loading system disclosed herein includes a movable platform 102, a conveyor 104, and one or more robotic arms, such as a robotic arm 116 (illustrated only partially and except for the other side to avoid obscuring other features). In various embodiments, the system detects the arrival of an item that may be too heavy to lift and move from 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 motor-driven transport devices, such as a table, slide, chute, and conveyor belt. Initially, to receive heavy items, the helper transport structure 1602 is positioned horizontally adjacent to the conveyor 104, as shown by the dashed line 1604. The conveyor 104 and / or helper transport structure 1602 operate to push / pull the item into the helper transport structure 1602, which is then operated to move to the position shown in Figure 16A. The item is slid, transported, or pushed along the helper transport structure 1602 to the floor 1606 using a robotic arm (e.g., 116). The movable platform 102 and the elements mounted on it may be moved under robotic control prior to the operations described above to position the movable platform 102 and the elements mounted on it in the position, location, and orientation in which it is determined that the item is most likely to end up on the floor 1606.

[0106] Figure 16B shows one embodiment of a robot-controlled loading system for loading onto trucks or other containers. In the illustrated example, the helper conveyor structure 1602 of Figure 16A is replaced by a vertically movable helper conveyor 1620. In various embodiments, the vertically movable helper conveyor 1620 is moved by a guide and lift drive unit 1622 from a position between an upper position and a position adjacent to the conveyor 104 to allow items to be moved onto the helper conveyor 1620 and to a position on or near the floor 1606. For example, heavy items moved from the conveyor 104 to the helper conveyor 1620 are moved to the floor by lowering the helper conveyor 1620 to the floor under robot control and by operating the helper conveyor 1620 to push the items from the helper conveyor 1620 to the floor 1606.

[0107] Figure 16C shows one embodiment of a robot-controlled loading system for loading onto trucks or other containers. In the illustrated example, the helper conveyor structure 1602 of Figure 16A is replaced by a helper conveyor 1640 connected by a linkage of four rods. The helper conveyor 1640 is positioned as shown to receive items. Once an item is moved onto the helper conveyor 1640, the helper conveyor 1640 is lowered to the floor 1606, to the position shown by the dashed line, and is operated to move the item from the helper conveyor 1640 to the floor 1606.

[0108] Figure 17 shows one embodiment of a robot-controlled loading system for loading onto trucks or other containers. In the illustrated example, the robot system 1700 is shown from above, including a movable platform 1702, a central conveyor 1704, and robot arms 1706, 1716. The movable platform 1702 includes a notch for receiving a helper conveyor 1720 and associated structures 1722, 1724 to raise and lower the helper conveyor 1720. In various embodiments, the helper conveyor 1720 may be one of the designs illustrated in Figures 16A, 16B, and 16C, or other conveying structures.

[0109] While the embodiments described above have been explained in some detail for clarity, the present invention is not limited to the details provided. Numerous alternative ways of implementing the present invention exist. The disclosed embodiments are illustrative and not restrictive. [Application Example 1] A robot system, A robot arm having n degrees of freedom, comprising a base and a set of continuously connected links and joints, the proximal end of which is connected to the base and the distal end which moves freely, and the robot arm comprising: An enabler joint assembly comprising a mounting location on which the base of the robot arm is mounted, and having a rotation axis offset from the mounting location, wherein the enabler joint assembly is configured to rotate the mounting location around it, A processor configured to control a first set of motors and enabler joint motors, each motor associated with a corresponding one of the n degrees of freedom of the robot arm, the enabler joint motors constituting the enabler joint assembly to control the movement of the robot arm within an extended working space defined at least partially by the n degrees of freedom of the robot arm and the (n+1)th degree of freedom provided by the enabler joint assembly, A robotic system equipped with the following features. [Application Example 2] The system according to Application Example 1, wherein the enabler joint assembly comprises a transmission plate mechanically connected to the mounting location on which the base of the robot arm is mounted, and a fixedly mounted enabler joint assembly base, wherein the transmission plate is rotated around the rotation axis of the enabler joint assembly with respect to the fixedly mounted enabler joint assembly base. [Application Example 3] The system described in Application Example 2, wherein the enabler joint assembly base is fixedly mounted on a robot-controlled movable chassis. [Application Example 4] A system according to Application Example 3, wherein the enabler joint assembly base supports an enabler joint motor configured to rotate the transmission plate around the rotation axis. [Application Example 5] A system according to Application Example 2, wherein the enabler joint assembly base is fixedly mounted on the robot-controlled movable chassis such that the rotation axis of the enabler joint assembly is oriented at an acute angle that is not perpendicular to the vertical axis. [Application Example 6] A system according to Application Example 5, wherein the geometric shape of the transmission plate causes the mounting location and the robot arm to tilt in the direction of rotation as the transmission plate rotates around the rotation axis of the enabler joint assembly from the center or neutral position. [Application Example 7] A system according to Application Example 5, wherein the geometric shape of the transmission plate causes the mounting location and the robot arm to move away from the structure adjacent to the enabler joint assembly by the rotation of the transmission plate about the rotation axis of the enabler joint assembly from the center or neutral position. [Application Example 8] A system according to Application Example 5, wherein the geometric shape of the transmission plate and the orientation of the rotation axis of the enabler joint assembly result in the mounting location being substantially parallel to the ground when the enabler joint assembly is in the center or neutral position. [Application Example 9] A system according to Application Example 5, wherein the geometric shape of the transmission plate and the orientation of the rotation axis of the enabler joint assembly cause the mounting location to be tilted at an angle with respect to the ground when the enabler joint assembly is in the center or neutral position. [Application Example 10] A system according to Application Example 2, wherein the mounting location constitutes an integrated part of the transmission plate. [Application Example 11] A system according to Application Example 1, wherein the processor constitutes one or more of a control computer, a robot arm control device, an enabler joint assembly control device, and an integrated control device configured to control both the robot arm and the enabler joint assembly. [Application Example 12] A system according to Application Example 1, wherein the processor is configured to receive image data, generate a three-dimensional viewpoint of the workspace in which the robot system is deployed, and use the three-dimensional viewpoint of the workspace to generate and execute a plan for performing a task on an item in the workspace using the robot arm and enabler joint assembly. [Application Example 13] The system according to Application Example 1, wherein the processor is configured to rotate the enabler joint assembly forward in order to increase the reach associated with the robot arm. [Application Example 14] A system according to Application Example 1, wherein the processor is configured to rotate the enabler joint assembly forward or backward in order to position the robot arm and perform a task, regardless of whether or not it is necessary for the robot arm to be positioned in an unfavorable posture. [Application Example 15] A system according to Application Example 1, wherein the robot arm comprises a first robot arm, the enabler joint assembly comprises a first enabler joint assembly, the first robot arm and the first enabler joint assembly are located on the first side of a robot-controlled movable chassis, and the second robot arm and the second enabler joint assembly are located on the second side of the robot-controlled movable chassis. [Application Example 16] The system according to Application Example 14, wherein the robot-controlled conveyor is positioned between the first robot arm and the first enabler joint assembly and the second robot arm and the second enabler joint assembly. [Application Example 17] A system according to Application Example 15, wherein the processor is configured to perform a task 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. [Application Example 18] The system described in Application Example 16, wherein the processor is configured to use the first enabler joint assembly to rotate the first robot arm forward and the second enabler joint assembly to rotate the second robot arm backward in order to perform a pick-up or placement task at a location closer to the second robot arm than the first robot arm. [Application Example 19] A method for controlling a robotic system comprising a robotic arm having n degrees of freedom, wherein the robotic arm comprises a base and a set of continuously connected links and joints connected to the base at a proximal end and terminating at a freely moving distal end, and an enabler joint assembly comprising a mounting location on which the base of the robotic arm is mounted, and having a rotation axis offset from the mounting location and configured such that the enabler joint assembly rotates the mounting location around it, the method comprising using a processor to control 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, and the enabler joint motors constitute the enabler joint assembly to control the movement of the robotic arm within an extended working space at least partially defined by the n degrees of freedom of the robotic arm and the (n+1)th degree of freedom provided by the enabler joint assembly. [Application Example 20] A computer program product embodied in a non-temporary computer-readable medium for controlling a robotic system comprising a robotic arm having n degrees of freedom, wherein the robotic arm comprises a base and a set of continuously connected links and joints connected to the base at a proximal end and terminating at a freely moving distal end, and an enabler joint assembly comprising a mounting location on which the base of the robotic arm is mounted, and having a rotation axis offset from the mounting location and configured such that the enabler joint assembly rotates the mounting location around it, the computer program product comprising 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, and the enabler joint motors constituting the enabler joint assembly for controlling the movement of the robotic arm within an extended working space at least partially defined by the n degrees of freedom of the robotic arm and the (n+1)th degree of freedom provided by the enabler joint assembly, the computer program product.

Claims

1. It is a robotic system, A robot arm having n degrees of freedom, comprising a base and a set of continuously connected links and joints, the proximal end of which is connected to the base and the distal end which moves freely, and An enabler joint assembly comprising a mounting location on which the base of the robot arm is mounted, and having a rotation axis offset from the mounting location, wherein the enabler joint assembly is configured to rotate the mounting location around it, A processor configured to control a first set of motors and enabler joint motors, each motor associated with a corresponding one of the n degrees of freedom of the robot arm, the enabler joint motors constitute the enabler joint assembly to control the movement of the robot arm within an extended working space defined at least partially by the n degrees of freedom of the robot arm and the (n+1)th degree of freedom provided by the enabler joint assembly, The enabler joint assembly comprises a transmission plate mechanically connected to the mounting location on which the base of the robot arm is mounted, and a fixedly mounted enabler joint assembly base, wherein the transmission plate rotates around the rotation axis of the enabler joint assembly relative to the fixedly mounted enabler joint assembly base. The enabler joint assembly base is fixedly mounted on a robot-controlled movable chassis such that the rotation axis of the enabler joint assembly is oriented at an acute angle, not perpendicular to the vertical axis, in a robotic system.

2. A robot system according to claim 1, wherein the enabler joint assembly base supports the enabler joint motor configured to rotate the transmission plate around the rotation axis.

3. A robot system according to claim 1, wherein the geometric shape of the transmission plate causes the mounting location and the robot arm to tilt in the direction of rotation as the transmission plate rotates around the rotation axis of the enabler joint assembly from the center or neutral position.

4. A robot system according to claim 1, wherein the geometric shape of the transmission plate causes the mounting location and the robot arm to move away from a structure adjacent to the enabler joint assembly by the rotation of the transmission plate about the rotation axis of the enabler joint assembly from the center or neutral position.

5. A robot system according to claim 1, wherein the geometric shape of the transmission plate and the orientation of the rotation axis of the enabler joint assembly result in the mounting location being substantially parallel to the ground when the enabler joint assembly is in the center or neutral position.

6. A robot system according to claim 1, wherein the geometric shape of the transmission plate and the orientation of the rotation axis of the enabler joint assembly cause the mounting location to be tilted at an angle with respect to the ground when the enabler joint assembly is in the center or neutral position.

7. A robot system according to claim 1, wherein the mounting location constitutes an integral part of the transmission plate.

8. A robot system according to claim 1, wherein the processor comprises one or more of a control computer, a robot arm control device, an enabler joint assembly control device, and an integrated control device configured to control both the robot arm and the enabler joint assembly.

9. A robotic system according to claim 1, wherein the processor is configured to receive image data, generate a three-dimensional viewpoint of the workspace in which the robotic system is deployed, and use the three-dimensional viewpoint of the workspace to generate and execute a plan for performing a task on an item in the workspace using the robotic arm and the enabler joint assembly.

10. A robotic system according to claim 1, wherein the processor is configured to rotate the enabler joint assembly forward in order to increase the reach associated with the robotic arm.

11. A robot system according to claim 1, wherein the processor is configured to rotate the enabler joint assembly forward or backward in order to position the robot arm and perform a task, regardless of whether it is necessary for the robot arm to be positioned in an unfavorable posture.

12. A robot system according to claim 1, wherein the robot arm comprises a first robot arm, the enabler joint assembly comprises a first enabler joint assembly, the first robot arm and the first enabler joint assembly are located on a first side of a robot-controlled movable chassis, and the second robot arm and the second enabler joint assembly are located on a second side of the robot-controlled movable chassis.

13. A robot system according to claim 12, wherein the robot-controlled conveyor is positioned between the first robot arm and the first enabler joint assembly and the second robot arm and the second enabler joint assembly.

14. A robot system according to claim 12, wherein the processor is configured to perform a task by controlling one or more of the movable chassis, conveyor, first robot arm, first enabler joint assembly, second robot arm, and second enabler joint assembly.

15. A robot system according to claim 13, wherein the processor is configured to use the first enabler joint assembly to rotate the first robot arm forward and the second enabler joint assembly to rotate the second robot arm backward in order to perform a pick-up or placement task at a location closer to the second robot arm than the first robot arm.

16. A method for controlling a robotic system comprising a robotic arm having n degrees of freedom, wherein the robotic arm comprises a base and a set of continuously connected links and joints connected to the base at a proximal end and terminating at a freely moving distal end, and an enabler joint assembly comprising a mounting location on which the base of the robotic arm is mounted, and having a rotation axis offset from the mounting location and configured such that the enabler joint assembly rotates the mounting location around it, the method comprising using a processor to control 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, and the enabler joint motors constitute the enabler joint assembly to control the movement of the robotic arm within an extended working space at least partially defined by the n degrees of freedom of the robotic arm and the (n+1)th degree of freedom provided by the enabler joint assembly, The enabler joint assembly comprises a transmission plate mechanically connected to the mounting location on which the base of the robot arm is mounted, and a fixedly mounted enabler joint assembly base, wherein the transmission plate rotates around the rotation axis of the enabler joint assembly relative to the fixedly mounted enabler joint assembly base. The enabler joint assembly base is fixedly mounted on a robot-controlled movable chassis such that the rotation axis of the enabler joint assembly is oriented at an acute angle, not perpendicular to the vertical axis.

17. A computer program product embodied in a non-temporary computer-readable medium for controlling a robotic system comprising a robotic arm having n degrees of freedom, wherein the robotic arm comprises a base and a set of continuously connected links and joints connected to the base at a proximal end and terminating at a freely moving distal end, and an enabler joint assembly comprising a mounting location on which the base of the robotic arm is mounted, and having a rotation axis offset from the mounting location and configured such that the enabler joint assembly rotates the mounting location around it, the computer program product includes 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, and the enabler joint motors constitute the enabler joint assembly to control the movement of the robotic arm within an extended operating space at least partially defined by the n degrees of freedom of the robotic arm and the (n+1)th degree of freedom provided by the enabler joint assembly, The enabler joint assembly comprises a transmission plate mechanically connected to the mounting location on which the base of the robot arm is mounted, and a fixedly mounted enabler joint assembly base, wherein the transmission plate rotates around the rotation axis of the enabler joint assembly relative to the fixedly mounted enabler joint assembly base. The enabler joint assembly base is a computer program product that is fixedly mounted on a robot-controlled movable chassis such that the rotation axis of the enabler joint assembly is oriented at an acute angle, not perpendicular to the vertical axis.

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