US 11,752,633 B1
Manipulator system
Stephen B. Lynch, Portola Valley, CA (US)
Assigned to APPLE INC., Cupertino, CA (US)
Filed by Stephen B. Lynch, Portola Valley, CA (US)
Filed on Dec. 17, 2019, as Appl. No. 16/716,581.
Claims priority of provisional application 62/799,151, filed on Jan. 31, 2019.
Int. Cl. B25J 9/16 (2006.01); B25J 5/00 (2006.01); B60P 3/00 (2006.01)
CPC B25J 9/1694 (2013.01) [B25J 5/007 (2013.01); B60P 3/007 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A vehicle comprising:
a vehicle body;
an opening defined in the vehicle body;
a closure structure;
a support structure that connects the closure structure to the vehicle body such that the closure structure is movable with respect to the vehicle body between a closed position in which the closure structure obstructs the opening and an open position in which the closure structure does not obstruct the opening;
an actuator that is operable to cause motion of the closure structure with respect to the vehicle body;
a manipulator that is connected to the closure structure and includes arm portions that are connected by actuated joints that are operable to move the arm portions with respect to each other and an end effector that is configured to pick up and release objects;
sensors that output sensor signals; and
a controller that is configured to position the end effector relative to an object by causing motion of the closure structure to move the manipulator relative to the vehicle body based in part on the sensor signals and by moving the end effector relative to the closure structure by causing motion of the manipulator.