Robotic arm and control system
First Claim
1. A robotic arm and control system, comprising:
- a robotic arm which moves in response to one or more command signals;
one or more fiducials located on said arm, each of said fiducials being an “
active”
fiducial such that each emits its own light;
a 3D sensing device having an associated field-of-view (FOV), positioned such that at least one of said fiducials and a target object to be manipulated with said arm are in said sensing device'"'"'s FOV, said sensing device arranged to produce output signals with which the spatial locations of said at least one of said fiducials and said target object can be determined; and
a controller arranged to receive said output signals from said sensing device and to provide said one or more command signals to said robotic arm, said controller arranged to provide closed loop control of said arm such that said at least one of said fiducials is moved towards said target object.
1 Assignment
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Accused Products
Abstract
A robotic arm and control system includes a robotic arm which moves in response to one or more command signals. One or more “active” fiducials are located on the arm, each of which emits its own light. A 3D camera having an associated field-of-view is positioned such that at least one fiducial and a target object to be manipulated are in the FOV. To determine their spatial positions, the arm fiducials are activated and the target object is preferably illuminated with a scanning laser; the camera produces output signals which vary with the spatial locations of the fiducials and target object. A controller receives the output signals and uses the spatial position information as feedback to continuously guide the arm towards the target object. Multiple active fiducials may be employed, each having respective characteristics with which they can be differentiated.
63 Citations
25 Claims
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1. A robotic arm and control system, comprising:
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a robotic arm which moves in response to one or more command signals; one or more fiducials located on said arm, each of said fiducials being an “
active”
fiducial such that each emits its own light;a 3D sensing device having an associated field-of-view (FOV), positioned such that at least one of said fiducials and a target object to be manipulated with said arm are in said sensing device'"'"'s FOV, said sensing device arranged to produce output signals with which the spatial locations of said at least one of said fiducials and said target object can be determined; and a controller arranged to receive said output signals from said sensing device and to provide said one or more command signals to said robotic arm, said controller arranged to provide closed loop control of said arm such that said at least one of said fiducials is moved towards said target object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A robotic arm and control system, comprising:
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a robotic arm which moves in response to one or more command signals; one or more fiducials located on said arm, each of said fiducials being an “
active”
fiducial such that each emits its own light;a first 3D sensing device having an associated field-of-view (FOV), positioned such that at least one of said fiducials is in said first sensing device'"'"'s FOV, said first sensing device arranged to produce output signals with which the spatial location of said at least one of said fiducials can be determined; a second 3D sensing device having an associated FOV, positioned such that at least one target object to be manipulated with said arm is in said second sensing device'"'"'s FOV, said second sensing device arranged to produce output signals with which the spatial location of said target object can be determined; and a controller arranged to receive said output signals from said sensing devices and to provide said one or more command signals to said robotic arm, said controller arranged to provide closed loop control of said arm such that said at least one of said fiducials is moved towards said target object.
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22. A robotic arm and control system, comprising:
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a robotic arm which moves in response to one or more command signals; one or more fiducials located on said arm, each of said fiducials being an “
active”
fiducial such that each emits its own light;an effector coupled to said arm with which a target object is manipulated, at least one of said fiducials located on or a known distance from said effector; a means of illuminating said target object; a 3D camera positioned such that at least one of said fiducials and said target object are in said camera'"'"'s field-of-view (FOV), said camera arranged to produce output signals with which the spatial locations of said at least one of said fiducials and said target object can be determined; and a controller arranged to receive said output signals from said 3D camera and to provide said one or more command signals to said robotic arm, said controller arranged to provide closed loop control of said arm such that said at least one of said fiducials is moved towards said target object. - View Dependent Claims (23)
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24. A method of controlling a robotic arm, comprising:
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activating at least one fiducial located on a robotic arm, each of said fiducials being an “
active”
fiducial such that each emits its own light when activated;determining the spatial location of at least one fiducial; determining the spatial location of a target object; and moving said arm so as to reduce the difference between the spatial locations of said at least one fiducial and said target object, such that said at least one active fiducial is moved towards said target object. - View Dependent Claims (25)
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Specification