US 12,240,123 B2
Robotic kitting machine
Samir Menon, Atherton, CA (US); Ivan Alberto Trujillo Priego, San Francisco, CA (US); Talbot Morris-Downing, Redwood City, CA (US); Zhouwen Sun, Redwood City, CA (US); Kevin Jose Chavez, Redwood City, CA (US); Alberto Leyva Arvayo, Palo Alto, CA (US); Cyril Nader, Palo Alto, CA (US); and Farshid Farhat, Santa Clara, CA (US)
Assigned to Dexterity, Inc., Redwood City, CA (US)
Filed by Dexterity, Inc., Redwood City, CA (US)
Filed on May 26, 2023, as Appl. No. 18/202,524.
Application 18/202,524 is a continuation of application No. 17/068,572, filed on Oct. 12, 2020, granted, now 11,701,776.
Claims priority of provisional application 62/926,168, filed on Oct. 25, 2019.
Prior Publication US 2023/0302644 A1, Sep. 28, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/1633 (2013.01); B25J 9/1679 (2013.01); B25J 9/1687 (2013.01); B25J 9/1694 (2013.01); B25J 13/085 (2013.01); G05B 2219/39322 (2013.01); G05B 2219/39529 (2013.01); G05B 2219/40032 (2013.01); G05B 2219/45063 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robotic system, comprising:
a communication interface; and
a processor coupled to the communication interface and configured to:
control a robotic arm having an end effector to move an item having at least a first pedestal portion to a location associated with a slot into which the first pedestal portion of the item is to be inserted;
receive via the communication interface force information generated by a force sensor, wherein the force information includes forces detected by the force sensor;
use the force sensor information to align the at least first pedestal portion with a corresponding cavity comprising the slot;
determine based at least in part on the detected forces that a destination receptacle with which the location and the slot are associated is at a detected orientation that is different than an expected orientation;
determine an actual orientation of the slot based the detected forces;
remap position information for one or more other slots comprising the destination receptacle based at least in part on the determined actual orientation of the slot; and
control the robotic arm to insert the item into the slot.