Robot manipulator system and methods for providing supplemental securement of objects

Patent metadata

Field	Value
Publication number	US-11426864-B2
Application number	US-201916702195-A
Country	US
Kind code	B2
Filing date	Dec 3, 2019
Priority date	Dec 3, 2018
Publication date	Aug 30, 2022
Grant date	Aug 30, 2022

Abstract

A robotic manipulator system includes a first robotic manipulator and a second robotic manipulator configured to grasp an object. The first robotic manipulator grasps the object a first time and moves the object to the second robotic manipulator. The second robotic manipulator then grasps the object and the first robotic manipulator readjusts its position relative to the object before grasping the object a second time. One or both of the robotic manipulators then move the object a new location before releasing the object at the new location.

First claim

The invention claimed is:

1. A method, comprising:
grasping an object at a first location with a first end effector of a first robotic manipulator;
grasping the object with a second end effector of a second robotic manipulator while the object is grasped by the first end effector of the first robotic manipulator;
releasing the object from the first end effector of the first robotic manipulator while the object is grasped by the second end effector of the second robotic manipulator;
manipulating the object to an orientation where a machine-readable symbol of the object is within a line of sight of a scanner with the second end effector of the second robotic manipulator;
scanning the machine-readable symbol of the object with the scanner; and
releasing the object from the second end effector of the second robotic manipulator.

2. The method of claim 1 , further comprising:
controlling a robot including the first robotic manipulator and the second robotic manipulator with a control system.

3. The method of claim 1 , further comprising, before grasping the object at the first location:
deploying the first robotic manipulator and the second robotic manipulator from a storage position wherein at least one of the first and second robotic manipulators are recessed with respect to a ceiling or wall to a deployed configuration wherein the at least one of the first and second robotic manipulators extend from the ceiling or wall.

4. The method of claim 1 , wherein manipulating the object includes manipulating the object with the second end effector of the second robotic manipulator.

5. The method of claim 1 , wherein manipulating the object includes manipulating the object with the first end effector of the first robotic manipulator by grasping the object with the first end effector of the first robotic manipulator a second time after releasing the object from the first end effector of the first robotic manipulator, and releasing the object from the second end effector of the second robotic manipulator.

6. The method of claim 1 , wherein grasping the object at the first location with the first end effector of the first robotic manipulator includes grasping the object at the first location with the first end effector of the first robotic manipulator which has a first number of degrees of freedom and grasping the object with the second end effector of the second robotic manipulator includes grasping the object with the second end effector of the second robotic manipulator which has a second number of degrees of freedom less than the first number of degrees of freedom.

7. The method of claim 1 , wherein releasing the object from the second end effector of the second robotic manipulator includes releasing the object at a second location different from the first location.

8. A method, comprising:
grasping an object at a first location with a first tool of a first robot;
simultaneously grasping the object with a second tool of a second robot;
moving the object to a second location proximate to a scanner by moving the first robot and the second robot;
scanning a machine-readable symbol of the object using the scanner;
moving the object to a third location; and
releasing the object from the first tool of the first robot and the second tool of the second robot at the third location.

9. The method of claim 8 , wherein moving the object with the first tool and the second tool includes manipulating the object to an orientation wherein the machine-readable symbol of the object is within a line of sight of the scanner.

10. The method of claim 8 , wherein grasping the object with the second tool of the second robot includes grasping the object with the second tool of the second robot at the first location.

11. The method of claim 8 , wherein moving the object to the third location includes moving the object to the third location which is the same location as the first location.

12. The method of claim 8 , wherein releasing the object from the first tool and the second tool includes releasing the object into a shipping container.

13. The method of claim 12 , further comprising, before releasing the object from the first tool and the second tool:
manipulating the object to align the object with an opening of the shipping container.

14. The method of claim 8 , wherein moving the object with the first tool and the second tool includes manipulating the object to an orientation where the machine-readable symbol of the object is in a line of sight of the scanner.

15. A method, comprising:
grasping a first object with a first end effector of a first arm of a robotic manipulator;
moving the first object proximate a second arm of the robotic manipulator with the first end effector of the first arm of the robotic manipulator;
grasping the first object with a second end effector of the second arm of the robotic manipulator while the object is grasped by the first end effector of the first arm of the robotic manipulator;
releasing the first object from the first end effector of the first arm of the robotic manipulator;
moving the first end effector of the first arm to a different position relative to the first object;
grasping the first object with the first end effector of the first arm a second time; and
releasing the first object from the second end effector of the second arm of the robotic manipulator.

16. The method of claim 15 wherein grasping the first object with the second end effector of the second arm of the robotic manipulator includes the second arm of the robotic manipulator being stationary.

17. The method of claim 15 further comprising, after releasing the first object from the second end effector of the second arm of the robotic manipulator:
grasping a second object with a different size and shape than the first object with the first end effector of the first arm of the robotic manipulator; and
moving the second object proximate the second arm of the robotic manipulator.

18. The method of claim 17 further comprising:
grasping the second object with the second arm of the robotic manipulator;
moving the second object with the first arm of the robotic manipulator until a machine-readable symbol of the second object is in a line of sight of a scanner; and
scanning the machine-readable symbol of the second object using the scanner.

Assignees

• Kindred Sys Inc

Inventors

• Hallock David Gabriel
• Jeong Jun

Classifications

• B25J9/1612

  characterised by the hand, wrist, grip control · CPC title

• B25J9/0018

  Bases fixed on ceiling, i.e. upside down manipulators · CPC title

• B25J9/0087 Primary

  Dual arms (double SCARA arms B25J9/043) · CPC title

• B25J9/1615

  characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators · CPC title

• B25J9/0084

  comprising a plurality of manipulators · CPC title