CPC B25J 9/1633 (2013.01) [B25J 15/0616 (2013.01); B25J 18/00 (2013.01)] | 32 Claims |
1. A programmable motion robotic system comprising:
a plurality of arm sections that are joined one to another at a plurality of joints to form an articulated arm; and
a hose coupling an end effector of the programmable motion robotic system to a vacuum source;
a pass-through coupling, said hose being attached to at least one arm section of the articulated arm by the pass-through coupling that permits the hose to pass freely through the coupling as the plurality of arm sections are moved about the plurality of joints; and
a control system processor that identifies one or more restricted areas of movement of the articulated arm based on a movement model of the hose to prevent unwanted forces on the hose, wherein the unwanted forces includes any of a stress, a strain, a bending, a torsion, and a compression on the hose.
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