Systems and methods for providing dynamic robotic control systems

Patent metadata

Field	Value
Publication number	US-2025178215-A1
Application number	US-202418919329-A
Country	US
Kind code	A1
Filing date	Oct 17, 2024
Priority date	Sep 1, 2015
Publication date	Jun 5, 2025
Grant date	—

Abstract

An articulated arm system is disclosed that includes an articulated arm including an end effector, and a robotic arm control systems including at least one sensor for sensing at least one of the position, movement or acceleration of the articulated arm, and a main controller for providing computational control of the articulated arm, and an on-board controller for providing, responsive to the at least one sensor, a motion signal that directly controls at least a portion of the articulated arm.

First claim

What is claimed is:

1 .- 25 . (canceled)

26 . A robotic arm comprising:
a plurality of arm segments with an articulating joint between adjoining arm segments, each of the articulating joints including a motor coupled to a robotic controller by a motor control signal to move the articulating joints; a vacuum end effector at a distal end of one of the plurality of arm segments, the vacuum end effector including a vacuum supply controlled by a vacuum control coupled to the robotic controller by a vacuum control signal to control the flow of vacuum to the vacuum end effector; at least one sensor on the robot arm; a control junction in at least one of the motor control signal and the vacuum control signal; and an on-board controller coupled to the at least one sensor and the control junction, the on-board controller using a signal from the at least one sensor to signal the control junction, the on-board controller thereby overriding the corresponding motor control signal or vacuum control signal from the robotic controller with an on-board controller signal.

27 . The robotic arm as claimed in claim 26 , wherein the at least one sensor is a force sensor.

28 . The robotic arm as claimed in claim 26 , wherein the at least one sensor is a depth sensor.

29 . The robotic arm as claimed in claim 26 , wherein the at least one sensor is a camera.

30 . The robotic arm as claimed in claim 26 , further comprising an alternative vacuum end effector and the vacuum control selectively directs vacuum flow to the alternative vacuum end effector.

31 . The robotic arm as claimed in claim 26 , wherein the vacuum end effector is an array of end effector sections.

32 . The robotic arm as claimed in claim 31 , wherein the at least one sensor includes a pressure sensor at each of the array of end effector sections.

33 . A robotic arm comprising:
a plurality of arm segments with an articulating joint between adjoining arm segments, each of the articulating joints including a motor coupled to a robotic controller by a motor control signal to move the articulating joints; at least one sensor on the robot arm; a control junction in each of the motor control signals; and an on-board controller coupled to the at least one sensor and each of the control junctions, the on-board controller using a signal from the at least one sensor to signal any one of the control junctions, the on-board controller thereby overriding the corresponding motor control signal from the robotic controller with an on-board controller signal.

34 . The robotic arm as claimed in claim 33 , wherein the at least one sensor is a force sensor.

35 . The robotic arm as claimed in claim 33 , wherein the at least one sensor is a depth sensor.

36 . The robotic arm as claimed in claim 33 , wherein the at least one sensor is a camera.

37 . The robotic arm as claimed in claim 33 , further comprising an alternative vacuum end effector and the vacuum control selectively directs vacuum flow to the alternative vacuum end effector.

38 . The robotic arm as claimed in claim 33 , wherein the vacuum end effector is an array of end effector sections.

39 . The robotic arm as claimed in claim 38 , wherein the at least one sensor includes a pressure sensor at each of the array of end effector sections.

40 . A robotic arm system comprising:
a main controller remotely located from the robotic arm; a plurality of arm segments with an articulating joint between adjoining arm segments, each of the articulating joints including a motor coupled to the main controller by a motor control signal to move the articulating joints; a vacuum end effector at a distal end of one of the plurality of arm segments, the vacuum end effector including a vacuum supply controlled by a vacuum control coupled to the robotic controller by a vacuum control signal to control the flow of vacuum to the vacuum end effector; at least one sensor on the robot arm; a control junction inline with at least one of the motor control signal and the vacuum control signal; and an on-board controller coupled to the at least one sensor and the control junction, the on-board controller using a signal from the at least one sensor to signal the control junction, the on-board controller thereby overriding the corresponding motor control signal or vacuum control signal from the robotic controller with an on-board controller signal.

41 . The robotic arm as claimed in claim 40 , wherein the at least one sensor is a force sensor.

42 . The robotic arm as claimed in claim 40 , wherein the at least one sensor is a depth sensor.

43 . The robotic arm as claimed in claim 40 , wherein the at least one sensor is a camera.

44 . The robotic arm as claimed in claim 40 , further comprising an alternative vacuum end effector and the vacuum control selectively directs vacuum flow to the alternative vacuum end effector.

45 . The robotic arm as claimed in claim 40 , wherein the vacuum end effector is an array of end effector sections and the at least one sensor includes a pressure sensor at each of the array of end effector sections.

Assignees

• Berkshire Grey Operating Company Inc

Inventors

• Wagner Thomas
• Ahearn Kevin
• Mason Matthew T
• GEYER Christopher
• Koletschka Thomas
• Velagapudi Prasanna
• DAWSON-HAGGERTY Michael
• SRINIVASA Siddhartha
• MARONEY Kyle
• Romano Joseph
• Smith Daniel Carlton
• Price Gene Temple
• Allen Thomas

Classifications

• B25J9/1628

  characterised by the control loop · CPC title

• B25J9/1697

  Vision controlled systems · CPC title

• B25J9/1602

  characterised by the control system, structure, architecture · CPC title

• B25J15/0616 Primary

  with vacuum · CPC title

• B25J9/1674

  characterised by safety, monitoring, diagnostic · CPC title