Systems and methods for providing processing of a variety of objects employing motion planning

• US 10,350,755 B2
• Filed: 02/08/2017
• Issued: 07/16/2019
• Est. Priority Date: 02/08/2016
• Status: Active Grant

• Current Assignee: Berkshire Grey Operating Co., Inc. (SoftBank Group Corp.)
• Original Assignee: Berkshire Grey, Inc. (SoftBank Group Corp.)
• Inventors: Wagner, Thomas, Ahearn, Kevin, Cohen, Benjamin, Dawson-Haggerty, Michael, Geyer, Christopher, Koletschka, Thomas, Maroney, Kyle, Mason, Matthew T., Price, Gene Temple, Romano, Joseph, Smith, Daniel, Srinivasa, Siddhartha, Velagapudi, Prasanna, Allen, Thomas
• Primary Examiner(s): Randazzo, Thomas
• Application Number:
  US15/427,359
• Publication Number:
  US 20170225330A1
• Time in Patent Office: 888 Days
• CPC Class Codes: B07C 3/008 Means for collecting objects, e.g. containers for sorted mail items pile receivers in general B65H31/00
• CPC Class Codes: B25J 15/0616 with vacuum
• CPC Class Codes: B25J 9/0093 co-operating with conveyor means
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 19/19 characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
• CPC Class Codes: G05B 2219/39102 Manipulator cooperating with conveyor
• CPC Class Codes: G05B 2219/40053 Pick 3-D object from pile of objects
• CPC Class Codes: G05B 2219/40078 Sort objects, workpieces
• CPC Class Codes: G05B 2219/40431 Grid of preoptimised paths as function of target position, choose closest, fine adapt
• CPC Class Codes: G05B 2219/40519 Motion, trajectory planning
• CPC Class Codes: G05B 2219/45047 Sorting
• CPC Class Codes: G05B 2219/45063 Pick and place manipulator

Abstract

A processing system is disclosed for providing processing of homogenous and non-homogenous objects in both structured and cluttered environments. The processing system includes a programmable motion device including an end effector, a perception system for recognizing any of the identity, location, and orientation of an object presented in a plurality of objects at an input location, a grasp acquisition system for acquiring the object using the end effector to permit the object to be moved from the plurality of objects to one of a plurality of destination bins, and a motion planning system for determining a changing portion of a trajectory path of the end effector from the object to a base location proximate to the input location, and determining an unchanging portion of a trajectory path of the end effector from the base location to a destination bin location proximate to a destination bin, wherein the unchanging portion of the trajectory path is chosen to provide a path from the base location to the destination bin location that is consistent with paths taken by other objects.

Claims

1. A processing system for providing processing of homogenous and non-homogenous objects in both structured and cluttered environments, said processing system comprising:

a programmable motion device including an end effector;

a perception system for recognizing any of the identity, location, and orientation of an object presented in a plurality of objects at an input location;

a grasp acquisition system for acquiring the object using the end effector to permit the object to be moved from the plurality of objects to one of a plurality of processing locations;

a motion planning system for determining a trajectory path from the input location to one of the plurality of processing locations, said trajectory path including at least one changing portion that is determined specific to the object'"'"'s location or orientation at the input location, and at least one unchanging portion that is generally used in determining trajectory paths for a plurality of objects;

at least one sensor for monitoring object acquisition characteristics during object acquisition and during travel; and

a controller for altering operation of the motion planning system by reversing the determined trajectory path.

2. The processing system as claimed in claim 1, wherein the controller alters operation of the grasp acquisition system by increasing the air flow at the effector.

3. The processing system as claimed in claim 1, wherein the at least one sensor includes a magnetic field sensor.

4. The processing system as claimed in claim 1, wherein the at least one sensor includes a flow monitor.

5. The processing system as claimed in claim 1, wherein the processing system further includes a plurality of programmable motion devices, each of which determines trajectory paths that include at least one changing portion and at least one unchanging portion.

6. The processing system as claimed in claim 5, wherein each programmable motion device is associated with an input area that includes at least one input conveyor that is common to all input areas.

7. The processing system as claimed in claim 5, wherein each programmable motion device is in communication with a library of predetermined unchanging portions.

8. The processing system as claimed in claim 1, wherein the unchanging portion of the trajectory path is determined responsive to trajectory data regarding a plurality of possible trajectory paths from a base location to the processing locations.

9. The processing system as claimed in claim 8, wherein the trajectory data is provided by learned knowledge information from a plurality of programmable motion devices.

10. The processing system as claimed in claim 8, wherein the trajectory data includes a time required to move through each of the plurality of possible trajectory paths from the base location to the processing locations.

11. The processing system as claimed in claim 8, wherein the trajectory data includes a risk factor associated with moving through each of the plurality of possible trajectory paths from the base location to the processing locations.

12. The processing system as claimed in claim 8, wherein the trajectory data is provided by experience of the programmable motion device including the end effector.

13. The processing system as claimed in claim 12, wherein the controller updates the trajectory data based on the experience of the monitored object acquisition characteristics.

14. The processing system as claimed in claim 8, wherein the trajectory data includes a time required to move through each of the plurality of possible trajectory paths from at least one base location to the processing locations, as well as a risk factor associated with moving through each of the plurality of possible trajectory paths from the base location to the processing locations.

15. The processing system as claimed in claim 14, wherein the unchanging portion of the trajectory path is determined to be a path with the associated shortest time required to move from the base location to a processing location and having a risk factor that is below a pre-defined maximum risk factor.

16. The processing system as claimed in claim 14, wherein the unchanging portion of the trajectory path is determined to be a path with the lowest risk factor associated with moving from the base location to a processing location and having a risk factor that is below a pre-defined maximum time.

41. The method as claimed in claim 13, wherein the trajectory data is updated responsive to the experience of the monitored object acquisition characteristics.

17. A processing system for providing sortation of homogenous and non-homogenous objects in both structured and cluttered environments, said processing system comprising:

a programmable motion device including an end effector;

a perception system for recognizing any of the identity, location, and orientation of an object presented in a plurality of objects at an input location;

a grasp acquisition system for acquiring the object using the end effector to permit the object to be moved from the plurality of objects to one of a plurality of processing locations;

a motion planning system for determining a trajectory path from the input location to one of the plurality of processing locations, said trajectory path including at least one dynamically determined portion that is determined specific to the object'"'"'s location or orientation at the input location, and at least one predetermined portion that is selected from a plurality of predetermined portions;

at least one sensor for monitoring object acquisition characteristics during object acquisition and during travel; and

a controller for altering operation of the motion planning system by reversing the determined trajectory path.

18. The system as claimed in claim 17, wherein the predetermined portion is selected from the plurality of predetermined portions based on at least two factors including any of trajectory data, and a characteristic of the object.

19. The processing system as claimed in claim 17, wherein the controller alters operation of the grasp acquisition system by increasing the air flow at the effector.

20. The processing system as claimed in claim 17, wherein the at least one sensor includes a magnetic field sensor.

21. The processing system as claimed in claim 17, wherein the at least one sensor includes a flow monitor.

22. The processing system as claimed in claim 17, wherein each of the predetermined portions of the includes trajectory time and trajectory risk.

23. The processing system as claimed in claim 22, wherein the trajectory data includes a time required to move through each of the plurality of possible trajectory paths from the base location to the processing locations.

24. The processing system as claimed in claim 22, wherein the trajectory data includes a risk factor associated with moving through each of the plurality of possible trajectory paths from the base location to the processing locations.

25. The processing system as claimed in claim 22, wherein the trajectory path is determined responsive to trajectory data regarding a plurality of possible trajectory paths from multiple base locations to the processing locations.

26. The processing system as claimed in claim 22, wherein the trajectory data is provided by learned knowledge information from a plurality of processing systems.

27. The processing system as claimed in claim 22, wherein the trajectory data is provided by experience of the programmable motion device including the end effector.

28. The processing system as claimed in claim 27, wherein the controller updates the trajectory data based on the experience of the monitored object acquisition characteristics.

29. The processing system as claimed in claim 22, wherein the trajectory data includes a time required to move through each of the plurality of possible trajectory paths from the base location to the processing location, as well as a risk factor associated with moving through each of the plurality of possible trajectory paths from the base location to the processing locations.

30. The processing system as claimed in claim 29, wherein the predetermined portion of the trajectory paths is determined to be a path with the associated shortest time required to move from the base location to a processing location and having a risk factor that is below a pre-defined maximum risk factor.

31. The processing system as claimed in claim 29, wherein the predetermined portion of the trajectory paths is determined to be a path with the lowest risk factor associated with moving from the base location to a processing location and having a risk factor that is below a pre-defined maximum time.

32. A method of providing processing of homogenous and non-homogenous objects in both structured and cluttered environments, said method comprising the steps of:

acquiring an object from an input location using an end effector of a programmable motion device to permit the object to be moved from the plurality of objects at an input location to one of a plurality of processing locations;

determining a trajectory path of the end effector from the object to one of the plurality of processing locations, said trajectory path including at least one dynamically determined portion that is determined specific to the object'"'"'s location or orientation at the input location, and at least one predetermined portion that is selected from a plurality of predetermined portions;

monitoring object acquisition characteristics during object acquisition and during travel using at least one sensor; and

altering operation of the programmable motion device responsive to the object acquisition characteristics to change the determined trajectory, wherein the determined trajectory path is changed further responsive to experience of the monitored object acquisition characteristics.

33. The method as claimed in claim 32, wherein the plurality of objects at the input location are provided in an input container, and wherein a container trajectory path for moving the input container is determined that also includes at least one dynamically determined portion that is determined specific to the input container'"'"'s location or orientation at the input location, and at least one predetermined portion that is predetermined and is not specific to the input container, the input container'"'"'s location or the input container'"'"'s orientation at the input area.

34. The method as claimed in claim 32, wherein the predetermined portion is selected from the plurality of predetermined portions based, in part, on a characteristic of the object.

35. The method as claimed in claim 32, wherein the predetermined portion of the trajectory path is also selected responsive to trajectory data regarding a plurality of possible trajectory paths from at least one base location to the processing locations.

36. The method as claimed in claim 35, wherein the trajectory data includes a time required to move through each of the plurality of possible trajectory paths from the base location to the processing locations.

37. The method as claimed in claim 35, wherein the trajectory data includes a risk factor associated with moving through each of the plurality of possible trajectory paths from the base location to the processing locations.

38. The method as claimed in claim 35, wherein the trajectory data is provided by learned knowledge information from a plurality of programmable motion devices.

39. The method as claimed in claim 35, wherein the trajectory path is determined responsive to trajectory data regarding a risk of moving an object having a specific characteristic at a certain velocity.

40. The method as claimed in claim 35, wherein the trajectory data is provided by experience of the programmable motion device including the end effector.

42. The method as claimed in claim 35, wherein the trajectory data includes a time required to move through each of the plurality of possible trajectory paths from the base location to the processing location, as well as a risk factor associated with moving through each of the plurality of possible trajectory paths from the base location to the processing locations.

43. The method as claimed in claim 42, wherein the predetermined portion of the trajectory path is determined to be a path with the associated shortest time required to move from the base location to a processing location and having a risk factor that is below a pre-defined maximum risk factor.

44. The method as claimed in claim 42, wherein the predetermined portion of the trajectory path is determined to be a path with the lowest risk factor associated with moving from the base location to a processing location and having a risk factor that is below a pre-defined maximum time.

45. A processing system for providing processing of homogenous and non-homogenous objects in both structured and cluttered environments, said processing system comprising:

a programmable motion device including an end effector;

a perception system for recognizing any of the identity, location, and orientation of an object presented in a plurality of objects at an input location;

a grasp acquisition system for acquiring the object using the end effector to permit the object to be moved from the plurality of objects to one of a plurality of processing locations;

a motion planning system for determining a trajectory path from the input location to one of the plurality of processing locations, said trajectory path including at least one changing portion that is determined specific to the object'"'"'s location or orientation at the input location, and at least one unchanging portion that is generally used in determining trajectory paths for a plurality of objects;

at least one sensor for monitoring object acquisition characteristics during object acquisition and during travel; and

a controller for altering operation of the grasp acquisition system by increasing air flow at the end effector.

46. The processing system as claimed in claim 45, wherein the controller alters operation of the motion planning system by reversing the determined trajectory path.

47. The processing system as claimed in claim 45, wherein the at least one sensor includes a magnetic field sensor.

48. The processing system as claimed in claim 45, wherein the at least one sensor includes a flow monitor.

49. The processing system as claimed in claim 45, wherein the processing system further includes a plurality of programmable motion devices, each of which determines trajectory paths that include at least one changing portion and at least one unchanging portion.

50. The processing system as claimed in claim 49, wherein each programmable motion device is associated with an input area that includes at least one input conveyor that is common to all input areas.

51. The processing system as claimed in claim 49, wherein each programmable motion device is in communication with a library of predetermined unchanging portions.

52. The processing system as claimed in claim 45, wherein the unchanging portion of the trajectory path is determined responsive to trajectory data regarding a plurality of possible trajectory paths from a base location to the processing locations.

53. The processing system as claimed in claim 52, wherein the trajectory data includes a time required to move through each of the plurality of possible trajectory paths from the base location to the processing locations.

54. The processing system as claimed in claim 52, wherein the trajectory data includes a risk factor associated with moving through each of the plurality of possible trajectory paths from the base location to the processing locations.

55. The processing system as claimed in claim 52, wherein the trajectory data is provided by learned knowledge information from a plurality of programmable motion devices.

56. The processing system as claimed in claim 52, wherein the trajectory data is provided by experience of the programmable motion device including the end effector.

57. The processing system as claimed in claim 56, wherein the controller updates the trajectory data based on the experience of the monitored object acquisition characteristics.

58. The processing system as claimed in claim 52, wherein the trajectory data includes a time required to move through each of the plurality of possible trajectory paths from at least one base location to the processing locations, as well as a risk factor associated with moving through each of the plurality of possible trajectory paths from the base location to the processing locations.

59. The processing system as claimed in claim 58, wherein the unchanging portion of the trajectory path is determined to be a path with the associated shortest time required to move from the base location to a processing location and having a risk factor that is below a pre-defined maximum risk factor.

60. The processing system as claimed in claim 58, wherein the unchanging portion of the trajectory path is determined to be a path with the lowest risk factor associated with moving from the base location to a processing location and having a risk factor that is below a pre-defined maximum time.

61. A processing system for providing processing of homogenous and non-homogenous objects in both structured and cluttered environments, said processing system comprising:

a programmable motion device including an end effector;

a perception system for recognizing any of the identity, location, and orientation of an object presented in a plurality of objects at an input location;

a grasp acquisition system for acquiring the object using the end effector to permit the object to be moved from the plurality of objects to one of a plurality of processing locations;

a motion planning system for determining a trajectory path from the input location to one of the plurality of processing locations, said trajectory path including at least one changing portion that is determined specific to the object'"'"'s location or orientation at the input location, and at least one unchanging portion that is generally used in determining trajectory paths for a plurality of objects;

at least one sensor for monitoring object acquisition characteristics during object acquisition and during travel, wherein the at least one sensor includes a magnetic field sensor; and

a controller for altering operation of one or both of the grasp acquisition system and the motion planning system responsive to input from the at least one sensor.

62. The processing system as claimed in claim 61, wherein the controller alters operation of the motion planning system by reversing the determined trajectory path.

63. The processing system as claimed in claim 61, wherein the controller alters operation of the grasp acquisition system by increasing the air flow at the effector.

64. The processing system as claimed in claim 61, wherein the at least one sensor includes a flow monitor.

65. The processing system as claimed in claim 61, wherein the unchanging portion of the trajectory path is determined responsive to trajectory data regarding a plurality of possible trajectory paths from a base location to the processing locations.

66. The processing system as claimed in claim 65, wherein the trajectory data includes a time required to move through each of the plurality of possible trajectory paths from the base location to the processing locations.

67. The processing system as claimed in claim 65, wherein the trajectory data includes a risk factor associated with moving through each of the plurality of possible trajectory paths from the base location to the processing locations.

68. The processing system as claimed in claim 65, wherein the trajectory data is provided by learned knowledge information from a plurality of programmable motion devices.

69. The processing system as claimed in claim 65, wherein the trajectory data is provided by experience of the programmable motion device including the end effector.

70. The processing system as claimed in claim 69, wherein the controller updates the trajectory data based on the experience of the monitored object acquisition characteristics.

71. The processing system as claimed in claim 65, wherein the trajectory data includes a time required to move through each of the plurality of possible trajectory paths from at least one base location to the processing locations, as well as a risk factor associated with moving through each of the plurality of possible trajectory paths from the base location to the processing locations.

72. The processing system as claimed in claim 71, wherein the unchanging portion of the trajectory path is determined to be a path with the associated shortest time required to move from the base location to a processing location and having a risk factor that is below a pre-defined maximum risk factor.

73. The processing system as claimed in claim 71, wherein the unchanging portion of the trajectory path is determined to be a path with the lowest risk factor associated with moving from the base location to a processing location and having a risk factor that is below a pre-defined maximum time.

74. The processing system as claimed in claim 61, wherein the processing system further includes a plurality of programmable motion devices, each of which determines trajectory paths that include at least one changing portion and at least one unchanging portion.

75. The processing system as claimed in claim 74, wherein each programmable motion device is associated with an input area that includes at least one input conveyor that is common to all input areas.

76. The processing system as claimed in claim 74, wherein each programmable motion device is in communication with a library of predetermined unchanging portions.

77. A processing system for providing processing of homogenous and non-homogenous objects in both structured and cluttered environments, said processing system comprising:

a programmable motion device including an end effector;

a perception system for recognizing any of the identity, location, and orientation of an object presented in a plurality of objects at an input location;

a grasp acquisition system for acquiring the object using the end effector to permit the object to be moved from the plurality of objects to one of a plurality of processing locations;

a motion planning system for determining a trajectory path from the input location to one of the plurality of processing locations, said trajectory path including at least one changing portion that is determined specific to the object'"'"'s location or orientation at the input location, and at least one unchanging portion that is generally used in determining trajectory paths for a plurality of objects, wherein the unchanging portion of the trajectory path is determined responsive to trajectory data regarding a plurality of possible trajectory paths from a base location to the processing locations, and wherein the trajectory data is provided by experience of the programmable motion device including the end effector;

at least one sensor for monitoring object acquisition characteristics during object acquisition and during travel; and

a controller for altering operation of one or both of the grasp acquisition system and the motion planning system responsive to input from the at least one sensor, wherein the controller updates the trajectory data based on the experience of the monitored object acquisition characteristics.

78. The processing system as claimed in claim 77, wherein the trajectory data includes a time required to move through each of the plurality of possible trajectory paths from the base location to the processing locations.

79. The processing system as claimed in claim 77, wherein the trajectory data includes a risk factor associated with moving through each of the plurality of possible trajectory paths from the base location to the processing locations.

80. The processing system as claimed in claim 77, wherein the controller alters operation of the motion planning system by reversing the determined trajectory path.

81. The processing system as claimed in claim 77, wherein the controller alters operation of the grasp acquisition system by increasing the air flow at the effector.

82. The processing system as claimed in claim 77, wherein the at least one sensor includes a magnetic field sensor.

83. The processing system as claimed in claim 77, wherein the at least one sensor includes a flow monitor.

84. The processing system as claimed in claim 77, wherein the trajectory data is provided by learned knowledge information from a plurality of programmable motion devices.

85. The processing system as claimed in claim 77, wherein the trajectory data includes a time required to move through each of the plurality of possible trajectory paths from at least one base location to the processing locations, as well as a risk factor associated with moving through each of the plurality of possible trajectory paths from the base location to the processing locations.

86. The processing system as claimed in claim 85, wherein the unchanging portion of the trajectory path is determined to be a path with the associated shortest time required to move from the base location to a processing location and having a risk factor that is below a pre-defined maximum risk factor.

87. The processing system as claimed in claim 85, wherein the unchanging portion of the trajectory path is determined to be a path with the lowest risk factor associated with moving from the base location to a processing location and having a risk factor that is below a pre-defined maximum time.

88. The processing system as claimed in claim 77, wherein the processing system further includes a plurality of programmable motion devices, each of which determines trajectory paths that include at least one changing portion and at least one unchanging portion.

89. The processing system as claimed in claim 88, wherein each programmable motion device is in communication with a library of predetermined unchanging portions.

90. The processing system as claimed in claim 88, wherein each programmable motion device is associated with an input area that includes at least one input conveyor that is common to all input areas.

91. A processing system for providing sortation of homogenous and non-homogenous objects in both structured and cluttered environments, said processing system comprising:

a programmable motion device including an end effector;

a perception system for recognizing any of the identity, location, and orientation of an object presented in a plurality of objects at an input location;

a grasp acquisition system for acquiring the object using the end effector to permit the object to be moved from the plurality of objects to one of a plurality of processing locations;

a motion planning system for determining a trajectory path from the input location to one of the plurality of processing locations, said trajectory path including at least one dynamically determined portion that is determined specific to the object'"'"'s location or orientation at the input location, and at least one predetermined portion that is selected from a plurality of predetermined portions;

at least one sensor for monitoring object acquisition characteristics during object acquisition and during travel; and

a controller for altering operation of one or both of the grasp acquisition system and the motion planning system responsive to input from the at least one sensor.

92. The processing system as claimed in claim 91, wherein the controller alters operation of the motion planning system by reversing the determined trajectory path.

93. The processing system as claimed in claim 91, wherein the at least one sensor includes a magnetic field sensor.

94. The processing system as claimed in claim 91, wherein the at least one sensor includes a flow monitor.

95. The processing system as claimed in claim 91, wherein each of the predetermined portions of the trajectory data includes trajectory time and trajectory risk.

96. The processing system as claimed in claim 95, wherein the trajectory data includes a time required to move through each of the plurality of possible trajectory paths from the base location to the processing locations.

97. The processing system as claimed in claim 95, wherein the trajectory data includes a risk factor associated with moving through each of the plurality of possible trajectory paths from the base location to the processing locations.

98. The processing system as claimed in claim 95, wherein the trajectory data is provided by learned knowledge information from a plurality of processing systems.

99. The processing system as claimed in claim 95, wherein the trajectory path is determined responsive to trajectory data regarding a plurality of possible trajectory paths from multiple base locations to the processing locations.

100. The processing system as claimed in claim 95, wherein the trajectory data is provided by experience of the programmable motion device including the end effector.

101. The processing system as claimed in claim 100, wherein the controller updates the trajectory data based on the experience of the monitored object acquisition characteristics.

102. The processing system as claimed in claim 95, wherein the trajectory data includes a time required to move through each of the plurality of possible trajectory paths from the base location to the processing location, as well as a risk factor associated with moving through each of the plurality of possible trajectory paths from the base location to the processing locations.

103. The processing system as claimed in claim 102, wherein the predetermined portion of the trajectory paths is determined to be a path with the associated shortest time required to move from the base location to a processing location and having a risk factor that is below a pre-defined maximum risk factor.

104. The processing system as claimed in claim 102, wherein the predetermined portion of the trajectory paths is determined to be a path with the lowest risk factor associated with moving from the base location to a processing location and having a risk factor that is below a pre-defined maximum time.

105. A processing system for providing sortation of homogenous and non-homogenous objects in both structured and cluttered environments, said processing system comprising:

a programmable motion device including an end effector;

a perception system for recognizing any of the identity, location, and orientation of an object presented in a plurality of objects at an input location;

a grasp acquisition system for acquiring the object using the end effector to permit the object to be moved from the plurality of objects to one of a plurality of processing locations;

a motion planning system for determining a trajectory path from the input location to one of the plurality of processing locations, said trajectory path including at least one dynamically determined portion that is determined specific to the object'"'"'s location or orientation at the input location, and at least one predetermined portion that is selected from a plurality of predetermined portions;

at least one sensor for monitoring object acquisition characteristics during object acquisition and during travel, wherein the at least one sensor includes a magnetic field sensor; and

a controller for altering operation of one or both of the grasp acquisition system and the motion planning system responsive to input from the at least one sensor.

106. The processing system as claimed in claim 105, wherein the controller alters operation of the motion planning system by reversing the determined trajectory path.

107. The processing system as claimed in claim 105, wherein the controller alters operation of the grasp acquisition system by increasing the air flow at the effector.

108. The processing system as claimed in claim 105, wherein the at least one sensor includes a flow monitor.

109. The processing system as claimed in claim 105, wherein each of the predetermined portions of the trajectory data includes trajectory time and trajectory risk.

110. The processing system as claimed in claim 109, wherein the trajectory data includes a time required to move through each of the plurality of possible trajectory paths from the base location to the processing locations.

111. The processing system as claimed in claim 109, wherein the trajectory data includes a risk factor associated with moving through each of the plurality of possible trajectory paths from the base location to the processing locations.

112. The processing system as claimed in claim 109, wherein the trajectory data is provided by experience of the programmable motion device including the end effector.

113. The processing system as claimed in claim 109, wherein the trajectory data is provided by learned knowledge information from a plurality of processing systems.

114. The processing system as claimed in claim 109, wherein the trajectory path is determined responsive to trajectory data regarding a plurality of possible trajectory paths from multiple base locations to the processing locations.

115. The processing system as claimed in claim 109, wherein the trajectory data includes a time required to move through each of the plurality of possible trajectory paths from the base location to the processing location, as well as a risk factor associated with moving through each of the plurality of possible trajectory paths from the base location to the processing locations.

116. The processing system as claimed in claim 115, wherein the predetermined portion of the trajectory paths is determined to be a path with the lowest risk factor associated with moving from the base location to a processing location and having a risk factor that is below a pre-defined maximum time.

117. The processing system as claimed in claim 115, wherein the predetermined portion of the trajectory paths is determined to be a path with the associated shortest time required to move from the base location to a processing location and having a risk factor that is below a pre-defined maximum risk factor.

118. The processing system as claimed in claim 117, wherein the controller updates the trajectory data based on the experience of the monitored object acquisition characteristics.

119. A processing system for providing sortation of homogenous and non-homogenous objects in both structured and cluttered environments, said processing system comprising:

a programmable motion device including an end effector;

a perception system for recognizing any of the identity, location, and orientation of an object presented in a plurality of objects at an input location;

a grasp acquisition system for acquiring the object using the end effector to permit the object to be moved from the plurality of objects to one of a plurality of processing locations;

a motion planning system for determining a trajectory path from the input location to one of the plurality of processing locations, said trajectory path including at least one dynamically determined portion that is determined specific to the object'"'"'s location or orientation at the input location, and at least one predetermined portion that is selected from a plurality of predetermined portions;

at least one sensor for monitoring object acquisition characteristics during object acquisition and during travel; and

a controller for altering operation of the grasp acquisition system by increasing air flow at the end effector.

120. The processing system as claimed in claim 119, wherein the controller alters operation of the motion planning system by reversing the determined trajectory path.

121. The processing system as claimed in claim 119, wherein the controller alters operation of the grasp acquisition system by increasing the air flow at the effector.

122. The processing system as claimed in claim 119, wherein the at least one sensor includes a magnetic field sensor.

123. The processing system as claimed in claim 119, wherein the at least one sensor includes a flow monitor.

124. The processing system as claimed in claim 119, wherein each of the predetermined portions of the trajectory data includes trajectory time and trajectory risk.

125. The processing system as claimed in claim 124, wherein the trajectory data includes a risk factor associated with moving through each of the plurality of possible trajectory paths from the base location to the processing locations.

126. The processing system as claimed in claim 124, wherein the trajectory data includes a time required to move through each of the plurality of possible trajectory paths from the base location to the processing locations.

127. The processing system as claimed in claim 124, wherein the trajectory data is provided by learned knowledge information from a plurality of processing systems.

128. The processing system as claimed in claim 124, wherein the trajectory path is determined responsive to trajectory data regarding a plurality of possible trajectory paths from multiple base locations to the processing locations.

129. The processing system as claimed in claim 124, wherein the trajectory data is provided by experience of the programmable motion device including the end effector.

130. The processing system as claimed in claim 129, wherein the controller updates the trajectory data based on the experience of the monitored object acquisition characteristics.

131. The processing system as claimed in claim 124, wherein the trajectory data includes a time required to move through each of the plurality of possible trajectory paths from the base location to the processing location, as well as a risk factor associated with moving through each of the plurality of possible trajectory paths from the base location to the processing locations.

132. The processing system as claimed in claim 131, wherein the predetermined portion of the trajectory paths is determined to be a path with the associated shortest time required to move from the base location to a processing location and having a risk factor that is below a pre-defined maximum risk factor.

133. The processing system as claimed in claim 131, wherein the predetermined portion of the trajectory paths is determined to be a path with the lowest risk factor associated with moving from the base location to a processing location and having a risk factor that is below a pre-defined maximum time.

134. A method of providing processing of homogenous and non-homogenous objects in both structured and cluttered environments, said method comprising the steps of:

acquiring an object from an input location using an end effector of a programmable motion device to permit the object to be moved from the plurality of objects at an input location to one of a plurality of processing locations;

determining a trajectory path of the end effector from the object to one of the plurality of processing locations, said trajectory path including at least one dynamically determined portion that is determined specific to the object'"'"'s location or orientation at the input location, and at least one predetermined portion that is selected from a plurality of predetermined portions, wherein the predetermined portion of the trajectory path is selected responsive to trajectory data regarding a plurality of possible trajectory paths from at least one base location to the processing locations, wherein the trajectory data is provided by experience of the programmable motion device including the end effector;

monitoring object acquisition characteristics during object acquisition and during travel using at least one sensor;

updating the trajectory data based on the experience of the monitored object acquisition characteristics; and

altering operation of the programmable motion device responsive to the object acquisition characteristics to change the determined trajectory path.

135. The method as claimed in claim 134, wherein the trajectory data includes a time required to move through each of the plurality of possible trajectory paths from the base location to the processing locations.

136. The method as claimed in claim 134, wherein the trajectory data includes a risk factor associated with moving through each of the plurality of possible trajectory paths from the base location to the processing locations.

137. The method as claimed in claim 134, wherein the trajectory data is provided by learned knowledge information from a plurality of programmable motion devices.

138. The method as claimed in claim 134, wherein the plurality of objects at the input location are provided in an input container, and wherein a container trajectory path for moving the input container is determined that also includes at least one dynamically determined portion that is determined specific to the input container'"'"'s location or orientation at the input location, and at least one predetermined portion that is predetermined and is not specific to the input container, the input container'"'"'s location or the input container'"'"'s orientation at the input area.

139. The method as claimed in claim 134, wherein the trajectory path is determined responsive to trajectory data regarding a risk of moving an object having a specific characteristic at a certain velocity.

140. The method as claimed in claim 134, wherein the predetermined portion is selected from the plurality of predetermined portions based, in part, on a characteristic of the object.

141. The method as claimed in claim 134, wherein the determined trajectory is changed responsive to the experience of the monitored object acquisition characteristics.

142. The method as claimed in claim 134, wherein the trajectory data includes a time required to move through each of the plurality of possible trajectory paths from the base location to the processing location, as well as a risk factor associated with moving through each of the plurality of possible trajectory paths from the base location to the processing locations.

143. The method as claimed in claim 142, wherein the predetermined portion of the trajectory path is determined to be a path with the associated shortest time required to move from the base location to a processing location and having a risk factor that is below a pre-defined maximum risk factor.

144. The method as claimed in claim 142, wherein the predetermined portion of the trajectory path is determined to be a path with the lowest risk factor associated with moving from the base location to a processing location and having a risk factor that is below a pre-defined maximum time.