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1. (WO2018053430) SYSTEM AND CALIBRATION, REGISTRATION, AND TRAINING METHODS
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Pub. No.: WO/2018/053430 International Application No.: PCT/US2017/052072
Publication Date: 22.03.2018 International Filing Date: 18.09.2017
IPC:
B25J 9/16 (2006.01) ,B25J 9/22 (2006.01) ,B25J 13/00 (2006.01) ,B25J 13/08 (2006.01) ,G05B 19/423 (2006.01) ,G06F 19/00 (2011.01)
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9
Programme-controlled manipulators
16
Programme controls
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9
Programme-controlled manipulators
16
Programme controls
22
Recording or playback systems
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13
Controls for manipulators
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13
Controls for manipulators
08
by means of sensing devices, e.g. viewing or touching devices
G PHYSICS
05
CONTROLLING; REGULATING
B
CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19
Programme-control systems
02
electric
42
Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
423
Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
G PHYSICS
06
COMPUTING; CALCULATING; COUNTING
F
ELECTRIC DIGITAL DATA PROCESSING
19
Digital computing or data processing equipment or methods, specially adapted for specific applications
Applicants:
CARBON ROBOTICS, INC. [US/US]; 525 York St. San Francisco, CA 94110, US
Inventors:
CORKUM, Daniel; US
MYERS, Rosanna; US
Agent:
MILLER, Peter; US
Priority Data:
62/395,99016.09.2016US
Title (EN) SYSTEM AND CALIBRATION, REGISTRATION, AND TRAINING METHODS
(FR) SYSTÈME ET PROCÉDÉS D'ÉTALONNAGE, D'ENREGISTREMENT ET D'APPRENTISSAGE
Abstract:
(EN) One variation of a method for manipulating a multi-link robotic arm includes: accessing a virtual model of the target object; extracting an object feature representing the target object from the virtual model; at the robotic arm, scanning a field of view of an optical sensor for the object feature, the optical sensor arranged on a distal end of the robotic arm proximal an end effector; in response to detecting the object feature in the field of view of the optical sensor, calculating a physical offset between the target object and the end effector based on a position of the object feature in the field of view of the optical sensor and a known offset between the optical sensor and the end effector; and driving a set of actuators in the robotic arm to reduce the physical offset.
(FR) L’invention concerne une variante d'un procédé de manipulation d'un bras robotique à liaisons multiples comprenant : l’accès à un modèle virtuel de l'objet cible ; l’extraction d’une caractéristique d'objet représentant l'objet cible à partir du modèle virtuel ; le balayage, au niveau du bras robotique, d’un champ de vision d'un capteur optique à la recherche de la caractéristique d'objet, le capteur optique étant disposé sur une extrémité distale du bras robotique à proximité d'un effecteur terminal ; le calcul, en réponse à la détection de la caractéristique d'objet dans le champ de vision du capteur optique, d’un décalage physique entre l'objet cible et l'effecteur terminal sur la base d'une position de la caractéristique d'objet dans le champ de vision du capteur optique et d'un décalage connu entre le capteur optique et l'effecteur terminal ; et l’entrainement d’un ensemble d'actionneurs dans le bras robotique en vue de réduire le décalage physique.
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: English (EN)
Filing Language: English (EN)