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Drone Assisted Adaptive Robot Control

  • US 20160271796A1
  • Filed: 03/18/2016
  • Published: 09/22/2016
  • Est. Priority Date: 03/19/2015
  • Status: Active Grant
First Claim
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1. A method for adaptively controlling a programmable robot, in communication with a drone device, the method employing an adaptive robot control system executable by at least one processor configured to execute computer program instructions for performing the method comprising:

  • receiving a plurality of environmental parameters of a work environment where the drone device operates, by the adaptive robot control system;

    receiving geometrical information of a target object to be operated on by the programmable robot positioned in the work environment, by the adaptive robot control system;

    dynamically receiving a calibrated spatial location of the target object in the work environment based on the environmental parameters of the work environment where the target object is positioned and a discernment of the target object from the drone device by the adaptive robot control system, wherein the drone device is configured to dynamically record and calibrate a spatial location of the target object in the work environment by navigating independently in a plurality of directions around the target object, accessing inaccessible areas with respect to the target object in the work environment, and capturing one or more images of the target object in each of the directions;

    determining parts geometry of the target object by the adaptive robot control system based on the dynamically received calibrated spatial location of the target object, the received geometrical information of the target object, and predetermined dimensions of a plurality of objects stored in a parts geometry database;

    determining, by the adaptive robot control system, a task trajectory of a task to be performed on the target object by the programmable robot based on the determined parts geometry of the target object, the predetermined dimensions of the objects stored in the parts geometry database, and predetermined task trajectories of the target objects stored in a procedure database;

    determining a collision-free robotic motion trajectory for the programmable robot by the adaptive robot control system based on the determined task trajectory, a model of the target object extracted from the determined parts geometry, and the environmental parameters of the work environment; and

    dynamically transmitting the dynamically received calibrated spatial location of the target object, the determined parts geometry, the determined task trajectory, and the determined collision-free robotic motion trajectory to the programmable robot by the adaptive robot control system via a communication network to adaptively control the programmable robot to perform the task on the target object while accounting for misalignments of the target object in the work environment.

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