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Selecting physical arrangements for objects to be acted upon by a robot

  • US 9,724,826 B1
  • Filed: 05/28/2015
  • Issued: 08/08/2017
  • Est. Priority Date: 05/28/2015
  • Status: Active Grant
First Claim
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1. A computer-implemented method, comprising:

  • determining, by one or more processors, one or more spatial constraints associated with an object to be acted upon by a robot;

    determining, by one or more of the processors, a plurality of candidate physical arrangements of the object that satisfy the one or more spatial constraints;

    receiving as input, by one or more of the processors for each of the candidate physical arrangements, a plurality of candidate paths traversable by a reference point of an end effector in acting upon the object in the candidate physical arrangement;

    calculating, by one or more of the processors, for each of the plurality of candidate physical arrangements of the object and for each of the candidate paths for the candidate physical arrangement, a cost that would be incurred as a result of the robot acting upon the object in the candidate physical arrangement using the candidate path, wherein the calculating includes;

    determining, from the plurality of candidate paths, a path traversable by the reference point associated with the end effector of the robot to a site corresponding to at least one of the plurality of candidate physical arrangements of the object,determining a plurality of candidate instructions sets, each candidate instruction set configured to cause the robot to assume a different respective set of poses while traversing the reference point along the path, andcalculating, for each candidate instruction set, a candidate instruction set cost that would be incurred to implement the candidate instruction set to traverse the reference point along the path;

    selecting, by one or more of the processors, the candidate physical arrangement and candidate path associated with the cost that satisfies a criterion, wherein the selecting includes selecting, from the plurality of candidate instruction sets, the candidate instruction set associated with the candidate instruction set cost that satisfies the criterion or another criterion; and

    with the object in the selected candidate physical arrangement, operating the robot to act upon the object using the selected candidate path.

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