Independent end-effector control and operation

Patent metadata

Field	Value
Publication number	US-11192245-B2
Application number	US-201816229402-A
Country	US
Kind code	B2
Filing date	Dec 21, 2018
Priority date	Dec 21, 2018
Publication date	Dec 7, 2021
Grant date	Dec 7, 2021

Abstract

Systems and methods are provided for controlling robots and their end effectors. One embodiment is a method for controlling a robot. The method includes: maneuvering a robot via a robot controller that is dedicated to operating the robot, thereby altering a position of an end effector mounted to the robot, communicating from the robot controller to an end effector controller that is disposed at the end effector and is dedicated to operating the end effector, determining a position of the end effector via the end effector controller, and operating the end effector via the end effector controller based on the position of the end effector.

First claim

What is claimed is:

1. A method for controlling a robot, the method comprising:
maneuvering a robot via a robot controller that is dedicated to operating the robot, thereby altering a position of an end effector mounted to the robot;
communicating from the robot controller to an end effector controller that is disposed at the end effector and is dedicated to operating the end effector, wherein the communicating indicates a position of the robot with a 3D coordinate and rotational data;
determining a position of the end effector via the end effector controller based on the position of the robot; and
operating the end effector via the end effector controller based on the position of the end effector.

2. The method of claim 1 further comprising:
determining a position of the robot via the robot controller.

3. The method of claim 1 further comprising:
selecting the end effector from a group of end effectors that each include an end effector controller; and
mounting the end effector to the robot.

4. The method of claim 1 wherein:
the end effector controller stores a library of commands for the end effector, and the method further comprises:
selecting commands from the library to operate the end effector via the end effector controller, based on the position of the robot.

5. The method of claim 4 wherein:
the end effector is from a group of end effectors that each have a dedicated controller; and
each of the end effectors performs different operations, and the controllers of the end effectors each include different libraries of commands for operating their respective end effectors.

6. The method of claim 1 further comprising:
performing feedback-based control of a position of the end effector via the end effector controller, based on input from a sensor at the end effector.

7. The method of claim 1 wherein operating the end effector is employed during a stage of production of a portion of an aircraft.

8. A non-transitory computer readable medium embodying programmed instructions which, when executed by a processor, are operable for performing a method for controlling an end effector of a robot, the method comprising:
maneuvering a robot via a robot controller that is dedicated to operating the robot, thereby altering a position of an end effector mounted to the robot;
communicating from the robot controller to an end effector controller that is disposed at the end effector and is dedicated to operating the end effector, wherein the communicating indicates a position of the robot with a 3D coordinate and rotational data;
determining a position of the end effector via the end effector controller based on the position of the robot; and
operating the end effector via the end effector controller based on the position of the end effector.

9. The non-transitory computer readable medium of claim 8 further comprising:
determining a position of the robot via the robot controller.

10. The non-transitory computer readable medium of claim 8 wherein the method further comprises:
selecting the end effector from a group of end effectors that each include an end effector controller; and
mounting the end effector to the robot.

11. The non-transitory computer readable medium of claim 8 wherein:
the end effector controller stores a library of commands for the end effector, and the method further comprises:
selecting commands from the library to operate the end effector via the end effector controller, based on the position of the robot.

12. The non-transitory computer readable medium of claim 8 wherein:
the end effector is from a group of end effectors that each have a dedicated controller; and
each of the end effectors performs different operations, and the controllers of the end effectors each include different libraries of commands for operating their respective end effectors.

13. The non-transitory computer readable medium of claim 8 wherein the method further comprises:
performing feedback-based control of a position of the end effector via the end effector controller, based on input from a sensor at the end effector.

14. The non-transitory computer readable medium of claim 8 wherein operating the end effector is employed during a stage of production of a portion of an aircraft.

15. A system for controlling work via a robot, the system comprising:
a robot comprising a robot controller that is dedicated to operating the robot; and
an end effector configured for attachment to the robot, the end effector comprising:
an interface that is configured to receive information from the robot indicating locations of the robot from the robot controller each location indicated with a 3D coordinate and rotational data;
a tool that is configured to perform work on a part; and
an end effector controller that is dedicated to operating the end effector, and is configured to direct operations of the tool based on the locations of the robot.

16. The system of claim 15 wherein:
the robot controller is subordinated to the end effector controller such that the robot controller performs actions at the direction of the end effector controller.

17. The system of claim 15 wherein the end effector is configured to be employed during a stage of production of a portion of an aircraft.

18. An apparatus for controlling work via a robot, the apparatus comprising:
a robot comprising a drive unit which translates the robot to adjust a position of the robot;
a robot controller that is dedicated to operating the robot and is communicatively coupled with the robot;
an end effector coupled to the robot, the end effector comprising a tool that is configured to perform work on a part; and
an end effector controller that is dedicated to operating the end effector, is communicatively coupled with the end effector, and is configured to direct operations of the tool based on communications with the robot controller that indicate a position of the robot with a 3D coordinate and rotational data, wherein the end effector controller determines a position of the end effector based on the position of the robot.

19. The apparatus of claim 18 wherein:
the robot controller is subordinated to the end effector controller such that the robot controller performs actions at the direction of the end effector controller.

20. The apparatus of claim 18 wherein the end effector is configured to be employed during a stage of production of a portion of an aircraft.

Assignees

• Boeing Co

Inventors

• Pedigo Samuel F

Classifications

• B25J9/1664 Primary

  characterised by motion, path, trajectory planning · CPC title

• B25J15/04

  with provision for the remote detachment or exchange of the head or parts thereof · CPC title

• B25J15/0019

  End effectors other than grippers · CPC title

• G05B2219/39468

  Changeable hand, tool, code carrier, detector · CPC title

• B25J11/005 Primary

  Manipulators for mechanical processing tasks · CPC title