METHOD FOR THE SELECTION OF PHYSICAL OBJECTS IN A ROBOT SYSTEM
First Claim
1. A method, comprising:
- receiving first sensor data from at least one first sensor;
determining a target position from the first sensor data, said target position comprising at least one of a position in space and an orientation for a gripper in association with a robot arm;
starting to issue at least one first instruction to at least one of the robot arm and the gripper in order to move the gripper to the target position;
receiving force feedback sensor data from at least one of the at least one first sensor and at least one force feedback sensor, associated with at least one of the robot arm and the gripper, to determine a failure in carrying out the at least one instruction;
receiving second sensor data from the at least one first sensor;
determining a successful gripping of an object from the second sensor data;
receiving verification sensor data from at least one second sensor, in response to the determining of the successful gripping; and
issuing at least one second instruction to the robot arm in order to move the arm to a predetermined position to release the grip of the gripper.
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Accused Products
Abstract
A method in which an apparatus receives first sensor data from first sensors and determines a target position from the data, the target position may be a position in space or an orientation of a gripper in a robot arm First instructions are issued to the robot arm or the gripper in order to move a gripper to the target position. Force feedback sensor data is received from force feedback sensors associated with either the robot arm or the gripper or from the first sensors. A failure in carrying out the first instructions is determined Second sensor data is received from the at least one first sensor. Successful gripping of an object is determined from the second sensor data.
93 Citations
18 Claims
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1. A method, comprising:
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receiving first sensor data from at least one first sensor; determining a target position from the first sensor data, said target position comprising at least one of a position in space and an orientation for a gripper in association with a robot arm; starting to issue at least one first instruction to at least one of the robot arm and the gripper in order to move the gripper to the target position; receiving force feedback sensor data from at least one of the at least one first sensor and at least one force feedback sensor, associated with at least one of the robot arm and the gripper, to determine a failure in carrying out the at least one instruction; receiving second sensor data from the at least one first sensor; determining a successful gripping of an object from the second sensor data; receiving verification sensor data from at least one second sensor, in response to the determining of the successful gripping; and issuing at least one second instruction to the robot arm in order to move the arm to a predetermined position to release the grip of the gripper. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. An apparatus comprising at least one processor and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to perform:
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receiving first sensor data from at least one first sensor; determining a target position from the first sensor data, said target position comprising at least one of a position in space and an orientation for a gripper in association with a robot arm; starting to issue at least one first instruction to at least one of the robot arm and the gripper in order to move the gripper to the target position; receiving force feedback sensor data from at least one of at least one force feedback sensor, associated with at least one of the robot arm and the gripper, and the at least one first sensor, to determine a failure in carrying out the at least one instruction; receiving second sensor data from the at least one first sensor; determining a successful gripping of an object from the second sensor data; receiving verification sensor data from at least one second sensor, in response to the determining of the successful gripping; and issuing at least one second instruction to the robot arm in order to move the arm to a predetermined position to release the grip of the gripper.
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15. An apparatus, comprising:
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means for receiving first sensor data from at least one first sensor; means for determining a target position from the first sensor data, said target position comprising at least one of a position in space and an orientation for a gripper in association with a robot arm; means for starting to issue at least one first instruction to at least one of the robot arm and the gripper in order to move the gripper to the target position; means for receiving force feedback sensor data from at least one of at least one force feedback sensor, associated with at least one of the robot arm and the gripper, and the at least one first sensor, to determine a failure in carrying out the at least one instruction; means for receiving second sensor data from the at least one first sensor; means for determining a successful gripping of an object from the second sensor data; means for receiving verification sensor data from at least one second sensor, in response to the determining of the successful gripping; and means for issuing at least one second instruction to the robot arm in order to move the arm to a predetermined position to release the grip of the gripper.
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16. A computer program embodied on a computer readable medium, the computer program comprising code for controlling a processor to execute a method comprising:
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receiving first sensor data from at least one first sensor; determining a target position from the first sensor data, said target position comprising at least one of a position in space and an orientation for a gripper in association with a robot arm; starting to issue at least one first instruction to at least one of the robot arm and the gripper in order to move the gripper to the target position; receiving force feedback sensor data from at least one of at least one force feedback sensor, associated with at least one of the robot arm and the gripper, and the at least one first sensor, to determine a failure in carrying out the at least one instruction; receiving second sensor data from the at least one first sensor; determining a successful gripping of an object from the second sensor data; receiving verification sensor data from at least one second sensor, in response to the determining of the successful gripping; and issuing at least one second instruction to the robot arm in order to move the arm to a predetermined position to release the grip of the gripper. - View Dependent Claims (17, 18)
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Specification