CPC B25J 15/0408 (2013.01) [B25J 15/0441 (2013.01); B25J 15/0491 (2013.01); G05B 2219/39468 (2013.01)] | 32 Claims |
1. A method of changing a tool on an end effector of a programmable motion device, said method comprising:
moving an attachment portion of the end effector of the programmable motion device in a continuous motion;
moving the attachment portion of the end effector in a single direction of the continuous motion through a first control feature of an exchange system to remove a first tool from the attachment portion of the end effector with an exchange system; and
continuing to move the attachment portion of the end effector in the single direction of the continuous motion through a second control feature of the exchange system to attach a second tool to the attachment portion of the end effector.
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