US 11,833,690 B2
Robotic system with dynamic motion adjustment mechanism and methods of operating same
Aditi Pandya, Tokyo (JP); Shunichi Nozawa, Tokyo (JP); and Rosen Nikolaev Diankov, Tokyo (JP)
Assigned to MUJIN, Inc., Tokyo (JP)
Filed by MUJIN, Inc., Tokyo (JP)
Filed on Jan. 4, 2021, as Appl. No. 17/141,186.
Claims priority of provisional application 62/957,282, filed on Jan. 5, 2020.
Prior Publication US 2021/0205992 A1, Jul. 8, 2021
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1664 (2013.01) 20 Claims
OG exemplary drawing
 
1. A method for operating a robotic system, the method comprising:
receiving a planned trajectory for manipulating a target object;
identifying a set of planned waypoints along the planned trajectory, wherein each waypoint in the set of planned waypoints represents an incrementally-targeted location on the planned trajectory for placing the target object or a representative portion of a robot according to a processing period;
initiating implementation of a task according to the planned trajectory by communicating a set of commands or settings for operating the robot to have the target object or the representative portion of the robot to follow the planned trajectory;
iteratively implementing the task for transferring the target object or the representative portion of the robot to a subsequent planned waypoint on the planned trajectory;
monitoring an input/output (I/O) state during iterative implementation of the planned trajectory, wherein the I/O state represents a capacity to complete implementation of the task and manipulating the target object;
based on the I/O state, dynamically deriving a set of updated waypoints for representing, according to the processing period, a changed set of locations traversed by the robot corresponding to a change in speed, the set of updated waypoints configured to replace the set of planned waypoints, wherein the set of updated waypoints and the set of planned waypoints correspond to different locations on the same planned trajectory; and
based on the I/O state, implementing an adjustment to the task for transferring the target object or the representative portion of the robot according to the set of updated waypoints instead of following the set of planned waypoints.