US 11,673,258 B2
Modular robotic device and method to operate a modular robotic device
Carlos Y. Sakuramoto, Sao Paulo (BR); Saulo Melotti, Santa Catarina (BR); Fabiano Preisler, Florianópolis (BR); Gustavo R. Ascenção, Berlin (DE); and Douglas Negri, Santa Catarina (BR)
Assigned to GM Global Technology Operations LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Jan. 13, 2021, as Appl. No. 17/148,022.
Prior Publication US 2022/0219316 A1, Jul. 14, 2022
Int. Cl. B25J 9/06 (2006.01); B25J 9/08 (2006.01); B25J 9/16 (2006.01)
CPC B25J 9/08 (2013.01) [B25J 9/06 (2013.01); B25J 9/1605 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A modular robotic device, comprising:
a computerized processor, operating programming to:
monitor geometry and restraints describing a workpiece and operations to be performed upon the workpiece;
determine a plurality of states through which the modular robotic device is to be moved to accomplish the operations to be performed based upon the monitored geometry and restraints;
analyze the plurality of states to determine a minimum number of degrees of freedom in a robotic manipulator of the modular robotic device; and
generate a recommended robotic manipulator configuration including a plurality of modular rigid segments to be used and types of joint portions to be used;
a robot base; and
a robotic manipulator connected to the robot base and operable to articulate a tool device connected to an end of the robotic manipulator, wherein the robotic manipulator is configured according to the recommended robotic manipulator configuration.