Variable compliance EOAT for optimization of GCU
First Claim
1. An inventory system, comprising:
- a robotic arm assembly comprising an end effector designed to interact with one or more inventory items;
one or more compliance variation mechanisms;
a processor; and
a memory including instructions that, when executed with the processor, cause the robotic arm assembly to, at least;
identify an item to be manipulated;
determine a placement location in which the identified item is to be stowed;
cause the robotic arm assembly to grasp the item using the end effector;
cause the robotic arm assembly to move the item to the determined placement location;
cause the one or more compliance variation mechanisms to vary a compliance level of the end effector based at least in part on a determination that the item is within a threshold distance of the placement location; and
cause the robotic arm assembly to place the item in the determined placement location.
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Accused Products
Abstract
Described herein is an inventory management system and methods of operating a robotic arm assembly in which the level of compliance of the robotic arm assembly is altered in order to achieve a high gross cubic utilization. In at least some embodiments, a robotic arm assembly may adopt a low level of compliance when grasping an item. The inventory management system may identify an appropriate storage location for the item and move the item to that storage location. Upon reaching the storage location, the robotic arm assembly may adopt a higher level of compliance. The robotic arm assembly may then push the item against one or more other items in order to insert the item into the determined storage location.
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Citations
20 Claims
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1. An inventory system, comprising:
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a robotic arm assembly comprising an end effector designed to interact with one or more inventory items; one or more compliance variation mechanisms; a processor; and a memory including instructions that, when executed with the processor, cause the robotic arm assembly to, at least; identify an item to be manipulated; determine a placement location in which the identified item is to be stowed; cause the robotic arm assembly to grasp the item using the end effector; cause the robotic arm assembly to move the item to the determined placement location; cause the one or more compliance variation mechanisms to vary a compliance level of the end effector based at least in part on a determination that the item is within a threshold distance of the placement location; and cause the robotic arm assembly to place the item in the determined placement location. - View Dependent Claims (2, 3, 4)
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5. A computer-implemented method;
- comprising;
identifying an item to be manipulated using an end effector; determining a placement location for the identified item based at least n part on an attribute of the item; grasping the item using the end effector; moving the item to the placement location; varying a compliance associated with the end effector based at least in part on a determination that the item is within a threshold distance of the placement location; and placing the item at the placement location. - View Dependent Claims (6, 7, 8, 9, 10, 11, 12, 13)
- comprising;
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14. An inventory management system comprising:
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at least one robotic arm assembly; a processor; and a memory including instructions that, when executed with the processor, cause the robotic arm assembly to, at least; remove an item from a first location; determine a second location to receive the item, the second location determined to optimize a gross cubic utilization; move the item into proximity of the second location; vary a level of compliance of the robotic arm assembly; and place the item into the second location. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification