US 11,717,960 B2
Anti-sway control for a robotic arm with adaptive grasping
Jagtar Singh, Pittsburgh, PA (US); Ramdas M. Pai, Cary, NC (US); and Abhijit Makhal, St. Louis, MO (US)
Assigned to INTELLIGRATED HEADQUARTERS, LLC, Mason, OH (US)
Filed by INTELLIGRATED HEADQUARTERS, LLC, Mason, OH (US)
Filed on Feb. 23, 2021, as Appl. No. 17/182,359.
Claims priority of provisional application 62/981,311, filed on Feb. 25, 2020.
Prior Publication US 2021/0260758 A1, Aug. 26, 2021
Int. Cl. B25J 9/16 (2006.01); B25J 15/06 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1638 (2013.01) [B25J 9/163 (2013.01); B25J 9/1651 (2013.01); B25J 9/1653 (2013.01); B25J 9/1664 (2013.01); B25J 9/1697 (2013.01); B25J 13/088 (2013.01); B25J 15/0616 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An anti-sway control system, comprising:
a processor; and
a memory that stores executable instructions that, when executed by the processor, cause the processor to execute operations, the operations comprising:
determining at least one of size, shape, or orientation of a package to be picked up by an end effector of a robotic arm;
adjusting a position of a suction cup on the end effector to grasp the package by linearly moving the suction cup from an initial position on a rail associated with the end effector to a predetermined end position on the rail associated with the end effector, wherein the end position is determined based on the at least one of the determined size, shape, or orientation of the package; and
controlling movement of the end effector via a robotic joint to reduce an acceleration of the package due to movement of the robotic arm.