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 independently controllable fiducials located on said arm, each of said fiducials being an “
active”
self-illuminating fiducial such that each emits its own light when activated;
a 3D sensing device having an associated field-of-view (FOV), positioned such that at least one of said active 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 active fiducials and said target object can be determined; and
a controller arranged to control the activation of said independently controllable active fiducials, said controller further arranged to receive said output signals from said sensing device, to activate one or more of said active fiducials, 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 active fiducials is moved towards said object.
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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.
39 Citations
27 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 independently controllable fiducials located on said arm, each of said fiducials being an “
active”
self-illuminating fiducial such that each emits its own light when activated;a 3D sensing device having an associated field-of-view (FOV), positioned such that at least one of said active 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 active fiducials and said target object can be determined; and a controller arranged to control the activation of said independently controllable active fiducials, said controller further arranged to receive said output signals from said sensing device, to activate one or more of said active fiducials, 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 active fiducials is moved towards said object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. 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 independently controllable fiducials located on said arm, each of said fiducials being an “
active”
self-illuminating fiducial such that each emits its own light when activated;a first 3D sensing device having an associated field-of-view (FOV), positioned such that at least one of said active 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 active 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 control the activation of said independently controllable active fiducials, said controller further arranged to receive said output signals from said sensing devices, to activate one or more of said active fiducials, 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 active fiducials is moved towards said target object.
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24. 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 independently controllable fiducials located on said arm, each of said fiducials being an “
active”
self-illuminating fiducial such that each emits its own light when activated;an effector coupled to said arm with which a target object is manipulated, at least one of said active 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 active 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 active fiducials and said target object can be determined; and a controller arranged to control the activation of said independently controllable active fiducials, said controller further arranged to receive said output signals from said 3D camera, to activate one or more of said active fiducials, 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 active fiducials is moved towards said target object. - View Dependent Claims (25)
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26. A method of controlling a robotic arm, comprising:
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activating at least one independently controllable fiducial located on a robotic arm, each of said fiducials being a self-illuminating “
active”
fiducial such that each emits its own light when activated;determining by a processor the spatial location in three dimensions of at least one fiducial; determining by the processor the spatial location in three dimensions of a target object; continuously comparing the spatial locations of said at least one active fiducial and said target object; and moving said arm based on said continuous comparing so as to reduce the difference between the spatial locations of said at least one active fiducial and said target object, such that said at least one active fiducial is moved towards said target object. - View Dependent Claims (27)
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Specification