Velocity control-based robotic system

Patent metadata

Field	Value
Publication number	US-12090661-B2
Application number	US-202117482162-A
Country	US
Kind code	B2
Filing date	Sep 22, 2021
Priority date	Sep 23, 2020
Publication date	Sep 17, 2024
Grant date	Sep 17, 2024

Abstract

A velocity control-based robotic system is disclosed. In various embodiments, sensor data is received from one or more sensors deployed in a physical space in which a robot is located. A processor is used to determine based at least in part on the sensor data an at least partly velocity-based trajectory along which to move an element comprising the robot. A command to implement the velocity-based trajectory is sent to the robot.

First claim

What is claimed is:

1. A robotic system, comprising:
a communication interface; and
a processor coupled to the communication interface and configured to:
receive via the communication interface sensor data from one or more sensors deployed in a physical space in which a robot is located;
determine based at least in part on the sensor data an at least partly velocity-based trajectory along which to move an element comprising the robot including by determining a vector to intercept a moving item located at a first location and a first distance away from the element, wherein the moving item is grasped by the element at a second location that is based on the a velocity associated with the moving item and the first distance, wherein the determined intercept vector matches the velocity associated with the moving item;
send to the robot, via the communication interface, a command to implement the at least partly velocity-based trajectory;
compare an observed velocity of the element to a corresponding simulated velocity of the element according to a simulated operation of the robot;
determine a difference between the observed velocity of the element and the corresponding simulated velocity of the element; and
send to the robot, via the communication interface, a second command that causes the robot to reduce the difference between the observed velocity of the element and the corresponding simulated velocity of the element.

2. The system of claim 1 , wherein the sensor data includes image sensor data.

3. The system of claim 1 , wherein the communication interface comprises a wireless interface.

4. The system of claim 1 , wherein the processor is further configured to simulate operation of the robot in a location.

5. The system of claim 1 , wherein the element comprising the robot comprises an end effector.

6. The system of claim 1 , wherein the processor is further configured to determine based at least in part on an attribute of an object currently within a grasp of the element comprising the robot a set of limits including one or more of a velocity limit and an acceleration limit, and to enforce the set of limits in determining the at least partly velocity-based trajectory.

7. The system of claim 1 , the command includes a torque-based command associated with a computed torque to be applied at a joint associated with the command to achieve the at least partly velocity-based trajectory.

8. The system of claim 1 , wherein the processor is further configured to determine the at least partly velocity-based trajectory based at least in part on an imputed repulsion force associated with an item or structure in a location.

9. The system of claim 8 , wherein the item or structure includes one or more of a chassis or other structure comprising the robot, a rail or other structure on which one or more of the robot and the chassis are configured to ride, a second robot present in the location, and a fixed structure present in the location.

10. The system of claim 1 , wherein the processor is configured to receive an indication to divert from a first task associated with a first velocity-based trajectory to a second task, and to determine and implement a second velocity-based trajectory to perform the second task.

11. The system of claim 10 , wherein the processor is configured to include in the second velocity-based trajectory a velocity-based transition from moving the element in a first direction comprising the first velocity-based trajectory to a trajectory to a second direction associated with the second task.

12. The system of claim 1 , wherein the robot comprises a first robot and the processor is configured to grasp an object using the first robot and a second robot, and to use velocity control to move the first robot and the second robot in synchronization to move the object to a destination position.

13. The system of claim 1 , wherein the processor is configured to determine and use a position error or difference between an expected position of the element and an observed position determined based at least in part on the sensor data to determine and implement an adjustment to the at least partly velocity-based trajectory.

14. A method to control a robotic system, comprising:
receiving sensor data from one or more sensors deployed in a physical space in which a robot is located;
using a processor to determine based at least in part on the sensor data an at least partly velocity-based trajectory along which to move an element comprising the robot including by determining a vector to intercept a moving item located at a first location and a first distance away from the element, wherein the moving item is grasped by the element at a second location that is based on a velocity associated with the moving item and the first distance, wherein the determined intercept vector matches the velocity associated with the moving item;
sending to the robot, via a communication interface, a command to implement the at least partly velocity-based trajectory;
comparing an observed velocity of the element comprising the robot to a corresponding simulated velocity of the element according to a simulated operation of the robot;
determining a difference between the observed velocity of the element and the corresponding simulated velocity of the element; and
sending to the robot, via the communication interface, a second command that causes the robot to reduce the difference between the observed velocity of the element and the corresponding simulated velocity of the element.

15. The method of claim 14 , further comprising using the processor to simulate operation of the robot in a location.

16. The method of claim 15 , wherein the at least partly velocity-based trajectory is determined at least in part by comparing an observed velocity of the element comprising the robot to a corresponding simulated velocity of the element according to the simulated operation of the robot.

17. The method of claim 16 , further comprising determining based at least in part on an attribute of an object currently within a grasp of the element comprising the robot a set of limits including one or more of a velocity limit and an acceleration limit, and using the processor to enforce the set of limits in determining the at least partly velocity-based trajectory.

18. A computer program product embodied in a non-transitory computer readable medium and comprising computer instructions for:
receiving sensor data from one or more sensors deployed in a physical space in which a robot is located;
determining based at least in part on the sensor data an at least partly velocity-based trajectory along which to move an element comprising the robot including by determining a vector to intercept a moving item located at a first location and a first distance away from the element, wherein the moving item is grasped by the element at a second location that is based on the a velocity associated with the moving item and the first distance, wherein the determined intercept vector matches the velocity associated with the moving item;
sending to the robot, via a communication interface, a command to implement the at least partly velocity-based trajectory;
comparing an observed velocity of the element to a corresponding simulated velocity of the element according to a simulated operation of the robot;
determining a difference between the observed velocity of the element and the corresponding simulated velocity of the element; and
sending to the robot, via the communication interface, a second command that causes the robo

Assignees

• Dexterity Inc

Inventors

• Sun Zhouwen
• Menon Samir
• Chavez Kevin Jose
• Baker Toby Leonard
• Tondreau Iii David Leo
• Nguyen Andrew
• Sun Cuthbert

Classifications

• B25J9/1682

  Dual arm manipulator; Coordination of several manipulators · CPC title

• B25J13/088

  with position, velocity or acceleration sensors · CPC title

• B25J9/1612

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

• B25J9/1671

  characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems · CPC title

• B25J9/1653

  parameters identification, estimation, stiffness, accuracy, error analysis · CPC title