342 results about "Robot manipulator" patented technology

A robotic surgical system includes a robotic manipulator configured to perform surgical procedures under direct surgeon control. A surgical camera system captures real-time intraoperative video. An external imaging interface receives multimodal imaging data, including preoperative and intraoperative data from at least one of magnetic resonance imaging (MRI), computed tomography (CT), ultrasound, and fluoroscopy. An artificial intelligence (AI module has a trained neural network and a deep learning model trained on multi-institutional annotated surgical datasets, The AI module is configured to execute one or more of: fuse acquired video and imaging data into temporally and spatially coherent anatomical visualizations; generate continuously updating overlays aligned with the surgical field, with segmented anatomical features; projected tissue boundaries, proximity indicators for instruments, and predictive deformation trends; provide dynamic predictive trend visualization indicating zones of future anatomical complexity or risk; register and align preoperative imaging data with intraoperative imaging data in real time; adapt overlay presentation in response to tissue deformation without actuating the robotic manipulate or; and passively augment visual feedback without initiating any autonomous actuation of surgical instruments.

A method of programming an industrial robot (100), composed of a robot manipulator (110) and a robot controller (120), comprises: recording movements of the robot manipulator during a kinesthetic programming session, for thereby obtaining a robot trajectory; capturing speech data while recording the movements of the robot manipulator; decomposing the recorded speech data into a plurality of phases; for each phase of the speech data, parsing the speech data into robot parameter values using a natural-language model (170), identifying a contemporaneous phase of the robot trajectory and annotating it with the robot parameter values; and, on the basis of the annotated robot trajectory, generating a robot program executable by the robot controller.

A generalized approach and methodology for addressing surface traversal and coverage of a 3 Dimensional (3-D) object receives a 3-D wireframe or similar Cartesian based representation, converts the 3-D representation to a u,v system or mapping. Often employed for texture mapping, u.v grid systems define a two dimensional form of an object, often referred to as “unfolding” of an object. Configurations herein define a u.v grid system directly on the 3-D object for computing a coverage path, typically an aggregation of raster passes to traverse an entire 3-D surface. From a robotic manipulator, a 3D freeform surface, and task constraints, the approach determines whether there exists a feasible continuous motion plan to cover the surface, and if so, produces a uniform coverage path that best satisfies task constraints resulting from the physical object and robot kinematics.

A robotic system includes a robotic arm that interacts with an object during operation. It further includes a locking component that, during operation, locks a multi-position component in an operating position. Responsive to a triggering event, locking of the multi-position component in the operating position is released and the multi-position component moves away from its operating position, facilitating separation between the robotic arm and the object.

A method of programming an industrial robot (100), with a robot manipulator (110) and robot controller (120), comprises: recording movements of the robot manipulator during a demonstration-based robot programming session, for thereby obtaining a robot trajectory; acquiring a video of the robot programming session; and generating, on the basis of the robot trajectory and the video, a robot program (C) executable by the robot controller, wherein the robot program includes at least one motion command which is expressed in a first reference frame (0 1). The method further comprises capturing operator input data indicating a first object (151) in an image in the video. The generated robot program includes a command to identify a position of an object resembling the first object in a work area (150) of a robot which executes the robot program; and the first reference frame is defined with respect to the identified position of the object resembling the first object.

Disclosed is a mobile robot manipulator system for handling railway inter box connectors for securement of shipping containers to the intermodal railcars, in a railway yard under an outdoor working environment, with a unique end-effector design incorporating at least two independently actuated and redundant grippers, supplemented by an additional aerial lift and aerial anchor to help stabilize the position of the movable base of the manipulator, a manipulator docking station to help protect the manipulator, end-effector, vision camera, and other sensitive equipment from damages against shock and under all weather conditions, and a sure grip methodology for safely transporting the railway inter box connector by the robot manipulator.

Methods and apparatus for grasping an object by a suction-based gripper of a mobile robot are provided. The method comprises receiving, by a computing device, from a perception system of the mobile robot, perception information reflecting an object to be grasped by the suction-based gripper, determining, by the computing device, uncertainty information reflecting an unknown or uncertain extent and / or pose of the object, determining, by the computing device, a grasp strategy to grasp the object based, at least in part, on the uncertainty information, and controlling, by the computing device, the mobile robot to grasp the object using the grasp strategy.

A robotic drill system and a method of drilling with a robotic drill system. This includes inserting a tool head of the robotic drill within a hole of a drill template along an initial insertion trajectory with a robotic manipulator arm that is moved by at least one robotic actuator for causing robotic insertion of the tool head. In response to sensing binding of the tool head to a wall of the hole while inserting the tool head along the initial insertion trajectory, the disclosure includes stopping robotic insertion of the tool head and activating a self-centering device of the tool head to reorient the tool head to a corrected alignment of the tool head axis relative to the hole. The self-centering device may include an expandable collet.

The invention relates to the technical field of man-machine interaction, and provides a robot mechanical arm collision avoidance planning method and system, a medium and equipment, and the method comprises the steps: obtaining posture features through the processing of a feature coding layer and an encoder for the observed posture features of a human body, and carrying out the inverse discrete cosine transform after the posture features are processed through a decoder and a feature decoding layer, obtaining human body posture features at future moments; for observed human body track features, track features are obtained through processing of a feature encoding layer and an encoder, feature fusion is carried out on the track features and posture features through a multi-head attention layer, after the fused track features are processed through a decoder and a feature decoding layer, inverse discrete cosine transform is carried out, and human body track features at the future moment are obtained; calculating the human body posture features at the future moment into a human body model, and performing point cloudization on the human body model to obtain predicted dynamic human body point cloud; and obtaining an object point cloud, taking the object point cloud and the dynamic human body point cloud as an obstacle, and performing collision avoidance trajectory planning.

Systems and methods are disclosed to automatically load packages into containers. In one embodiment, an example system may include a robotic platform configured to elevate and rotate a container to a predetermined orientation, and a robotic manipulator configured to retrieve a first package from a surface and to position the first package inside the container at a predetermined position.

Techniques for controlling an alignment of a non-destructive test (NDT) inspection probe are described. The techniques include receiving laser profile data from a laser profiling sensor corresponding to a weld location and surface properties of an object under non-destructive testing and receiving image data from an image sensor corresponding to the weld location. The laser profile data and the image sensor may be fused to generate fused data corresponding to the weld location. A control signal is generated to adjust a robotic manipulator of the NDT probe based on the fused data.

A computer-implemented method, apparatus and system is provided for robotic task completion from natural language requests. The method may include: receiving a natural language command, processing the natural language command with a generative large language model to extract an intent and associated context, creating a three-dimensional (3D) open-vocabulary semantic scene graph of the environment, associating the scene graph with the intent and associated context, creating, based at least in part on the scene graph, an execution plan comprising a sequence of actions to complete the natural language command, and generating executable code or tool calls corresponding to one or more actions in the sequence of actions, and controlling one or more robotic manipulators and / or actuators to perform one or more actions of the sequence of actions based on the execution plan.

Disclosed is a safety shared control system based on performance of teleoperator, including a master teleoperation system, a slave robotic manipulator system and a communication module; where the master teleoperation system includes EEG signal measurement of a teleoperator, hand controller operation input, and upper computer software, and the upper computer software includes a graphical user interface (GUI), safety simulation for protecting the safety of a robot, and a PoT model; and the slave robotic manipulator system includes a robotic manipulator, a vision camera and lower computer software, and the lower computer software includes a target recognition algorithm, an autonomous controller, and a shared controller for dynamically allocating human-robot control weights. A safety control system coefficient of the teleoperator is identified through safety simulation prior to actual operation, such that a safety control method for different operating experience is implemented, and safety operation of a teleoperation robot is realized.

A method of programming an industrial robot, comprising: recording movements of a robot manipulator during a demonstration-based programming session, to obtain a robot trajectory (301); using a natural-language model (171), parsing speech data describing the programming session into at least one robot parameter (305) value and annotating the robot trajectory with the robot parameter value; and, on the basis of the annotated robot trajectory (306), generating a robot program (307). The method further comprises: capturing a video (302) of the programming session; using a vision-enabled language model, VLM (172), generating descriptions (303) of movements of the robot manipulator which are visible in the video; and generating said speech data (304) on the basis of the descriptions of the robot manipulator movements.

A method for controlling a robotic manipulator according to a task comprises accepting a feedback signal including a sequence of multi-modal observations of a state of execution of the task. The multi-modal observations are processed with a neural network having a self-attention module with a hierarchically conditioned output to produce a skill of the robotic manipulator and an action conditioned on the skill. The neural network is trained in a supervised manner with demonstration data to produce a sequence of skills and a corresponding sequence of actions for the actuators of the robotic manipulator to perform the task. The method further comprises determining one or more control commands for the one or more actuators based on the produced action and submitting the one or more control commands to the one or more actuators causing a change of the state of execution of the task.

A robotic manipulator is described. The robotic manipulator includes a rigid or semi-rigid end effector that engages with objects and a sensor that detects data associated with the object. For example, the sensor can include an optical sensor or a vision-based tactile sensor that detects data associated with the object.

A generalized approach and methodology for addressing surface traversal and coverage of a 3 Dimensional (3-D) object receives a 3-D wireframe or similar Cartesian based representation, converts the 3-D representation to a u,v system or mapping. Often employed for texture mapping, u.v grid systems define a two dimensional form of an object, often referred to as "unfolding" of an object. Configurations herein define a u.v grid system directly on the 3-D object for computing a coverage path, typically an aggregation of raster passes to traverse an entire 3-D surface. From a robotic manipulator, a 3D freeform surface, and task constraints, the approach determines whether there exists a feasible continuous motion plan to cover the surface, and if so, produces a uniform coverage path that best satisfies task constraints resulting from the physical object and robot kinematics.

A container transport can move containers around a warehouse environment. The container transport can include a support that can connect the container transport with a robotic manipulator. The support can rotate the container transport between a storage position and a carrying position. In the carrying position the container can receive a container in a container receiving area. A manipulator can move the container into and / or out of container receiving area.

The invention discloses a robot manipulator grabbing and docking method and device, a medium and a product, and relates to the field of robot and sensor perception.The method comprises the steps that a visual-tactile joint data set of a manipulator in the process of grabbing a filter hose is constructed; establishing a tactile priori knowledge learning model according to the visual-tactile combined data set; outputting a current grabbing configuration according to the tactile priori knowledge learning model; motion planning information of the manipulator is obtained according to the current grabbing configuration; the manipulator is controlled to be in butt joint with the filter hose according to the motion planning information of the manipulator, mechanical modeling is conducted on the contact state of a butt joint of the filter hose and a butt joint of a machine tool, and a mechanical control model is obtained; and according to the mechanical control model, a DDPG parameter identification algorithm is adopted, and pose information and contact force information in the mechanical arm butt joint process are obtained. According to the flexible pipe grabbing and butting device, grabbing and butting of the flexible pipe of the cutting fluid filtering device can be more efficiently and stably carried out.

A robot manipulator has a base; an arm connected to the base via at least a shoulder joint; and a control system with a dynamic stability determination module. The dynamic stability determination module of the control system determines whether a dynamic stability criterion is met. If the dynamic stability criterion is met, the arm is responds compliantly to an applied force; and if the dynamic stability criterion is not met, the control system causes motion of the base in the direction of the applied force.

This invention provides a system and method for reliably interconnecting a native gladhand on a trailer with an AV truck, in which the gladhand can vary in placement and type on the trailer front. A visually guided robot manipulator arm accesses the trailer front. The arm includes an end effector assembly that is arranged to visually navigate to the gladhand and engage the gladhand by latching onto a gladhand using a connection tool that includes a hinged gladhand / wedge capture assembly and a pressurized clamping connection plate that selectively engages the trailer gladhand seal. The capture assembly is arranged to accommodate different gladhand geometries in latching thereonto. The connection tool includes a hinge that is spring-loaded in both a locked and unlocked bistable state, and sensors monitor the state. The system can include passive or active compliance elements that accommodate moderate misalignment between the engaged gladhand and the robotic arm / connection tool.

The present invention belongs to the field of robotics technology, specifically a constant force grinding method for complex surfaces of a robot based on force feedback. The method comprises the following steps: Step 1, collecting information of a six-dimensional force sensor through a robot controller; Step 2, introducing a fastest differential tracker in the self-disturbance rejection control; Step 3, forming an admittance control model by the robot and the environment to realize the outer loop control of the robot manipulator; Step 4, constructing a non-singular terminal sliding film control law to realize the inner loop control of the robot manipulator, thereby realizing the grinding of the curved workpiece surface. The present invention can improve the force tracking effect of the manipulator in a complex and unknown environment, thereby greatly improving the robot grinding accuracy.

The invention relates to a composite robot mechanical arm motion path planning method and device, computer equipment, a storage medium and a computer program product. The method comprises the steps of obtaining real-time chassis positioning data of a moving object, obtaining chassis positioning error data and initial moving path data of a mechanical arm of the moving object under the condition that it is detected that the real-time chassis positioning data has errors relative to preset target chassis positioning data, and determining the moving object according to the chassis positioning error data. And determining motion path compensation data, updating the initial motion path data according to the motion path compensation data to obtain target motion path data of the mechanical arm, and controlling the mechanical arm to move according to a path generated by the target motion path data. By adopting the method, the precision of path planning of the mechanical arm can be improved.

An end effector connector arranged to connect a robotic arm and an end effector comprising a suction device to releasably engage an item, in use, with vacuum pressure generated by a vacuum source. The end effector connector comprises an integrated filter assembly for the vacuum source.

A teleoperation system, including a robotic controller configured to translate a plurality of user inputs to a plurality of robotic control signals. A robotic manipulator, configured to operate separately from the robotic controller and to receive robotic control signals from the robotic controller, the robotic manipulator comprising a plurality of first joints and an end effector, wherein the robotic manipulator is configured to assume a plurality of poses, and wherein each respective pose of the plurality of poses corresponds to a respective configuration of the plurality of first joints. A feedback system, operatively coupled to the robotic manipulator, the feedback system configured to generate feedback information and transmit the feedback information to the robotic controller, wherein the feedback information includes information that indicates a current pose of the robotic manipulator, including the respective configuration of the plurality of first joints corresponding to the current pose of the robotic manipulator.

The present invention concerns a structure (10) of architectured material for a mechatronic manipulator (1) and a mechatronic manipulator having one or more degrees of freedom by using such structure which comprises at least one hollow flexible unit (11) comprising at least one elastic deformable material, characterized in that said hollow flexible unit (11) comprises at least two first helicoids (H1) having a generatrix and a first twist direction and at least two second helicoids (H2) having a generatrix and a second twist direction opposite to the first twist direction, resulting in said first and second helicoids being intertwined, said intertwined helicoids being trimmed around their centers along a direction parallel to said generatrixes so as to form said hollow flexible unit (11) of trimmed helicoids.

Described herein are sample collectors configured for use with robotic medical systems. A robotic medical system can include a medical instrument that can be inserted into a patient to capture a sample. A robotic manipulator can be engaged with the medical instrument and configured to operate the medical instrument; a sterile barrier can be used to separate a sterile field containing the medical instrument from a non-sterile field containing the robotic manipulator; a sample collector can include a receiver portion positioned in the sterile field and configured to receive the sample when a distal end of the medical instrument is retracted from the patient; and a connector coupled to the receiver portion and configured to attach to the robotic medical system. The robotic system can place the sample in the receiver portion.

A method of controlling a robot manipulator for operating in a shared workspace with human(s) is provided. The method includes: determining a safety control set with respect to a safety condition between selected part(s) of the robot manipulator and selected part(s) of the human(s) using a safety control function: determining a hard constraint control set with respect to hard constraint(s) in trajectory tracking in DOF(s) of a component of the robot manipulator for a task using a hard constraint function: determining a soft constraint control set with respect to soft constraint(s) in trajectory tracking in DOF(s) of the component for the task using a soft constraint function: and performing control input optimization based on the safety control set. the hard constraint control set and the soft constraint control set to determine a control input for controlling the robot manipulator. In particular, the safety control function is configured to determine the safety control set: based on a control model for the robot manipulator that is configured in a control affine form based on a control mode of the robot manipulator, and for each part pair of part pair(s) of a selected part of the selected part(s) of the robot manipulator and a selected part of the selected part(s) of the human(s): based on a safety distance function associated with the part pair which corresponds to a control barrier function, and based on a sliding manifold associated with the part pair configured based on the safety distance function and a relative degree of the safety distance function with respect to the control input to the robot manipulator.

The invention discloses a track detection device for an industrial robot. Comprising a workbench, a fixing rod is movably installed at the top of the workbench, a fourth connecting rod and a first connecting rod are movably installed at the top of the fixing rod, and first moving rods are movably installed at the two ends of the fourth connecting rod. According to the device, the first auxiliary rods and the movable blocks are arranged, when the robot manipulator moves to the position area among the four first auxiliary rods, the robot moves according to the preset advancing track, and the first auxiliary rods and the movable blocks can keep synchronous movement with the manipulator; the background control system compares data detected by the laser distance measuring sensor in the operation process with a standard data value, if the data value measured by the laser distance measuring sensor exceeds a preset data value in the equipment operation process, it is indicated that the robot manipulator deviates during operation, and if the data value measured by the laser distance measuring sensor exceeds the preset data value, the robot manipulator does not deviate during operation. Through the operation mode, detection of the moving track of the robot can be completed.

The invention provides a multi-modal flow matching-based motion prediction method and device for a body-equipped robot, and relates to the technical field of intelligent robots, and the method comprises the steps: obtaining an instruction text, an image feature set collected by a robot, and a depth image set corresponding to the image features of all moments and positions; performing feature splicing processing and feature refining processing on the image feature set to obtain an image sequence feature set, and performing feature fusion processing on the depth image set based on the image sequence feature set to determine a target visual feature; text features in the instruction text are fused with target visual features, text visual modal feature information is determined, and based on the text visual modal feature information, motion of the robot mechanical arm is predicted, and motion pose prediction features are determined. According to the method, the accuracy of motion prediction of the body-equipped robot can be remarkably improved.