US 12,240,130 B2
System and method for automated movement of a robotic arm
Antoine Lizotte, Bromont (CA); Felix Beaudry, Bromont (CA); Alain Warren, Granby (CA); John Karigiannis, Laval (CA); and Philippe Laurin, Bromont (CA)
Assigned to General Electric Company, Schenectady, NY (US)
Filed by General Electric Company, Schenectady, NY (US)
Filed on Jul. 5, 2022, as Appl. No. 17/857,511.
Claims priority of provisional application 63/219,195, filed on Jul. 7, 2021.
Prior Publication US 2023/0009468 A1, Jan. 12, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 19/02 (2006.01); G06T 7/70 (2017.01)
CPC B25J 9/1697 (2013.01) [B25J 9/1612 (2013.01); B25J 9/1664 (2013.01); B25J 19/022 (2013.01); B25J 19/023 (2013.01); G06T 7/70 (2017.01)] 16 Claims
OG exemplary drawing
 
1. A system, comprising:
a robotic arm;
a gripper coupled to an end of the robotic arm;
a first sensor coupled to the robotic arm, wherein the first sensor is arranged to obtain a first image, the first image including the gripper and a target location in an engine element for the gripper to insert or place an engine component;
a second sensor coupled to the robotic arm and configured to obtain a second image;
a third sensor unattached to the robotic arm in a workspace and configured to obtain a third image; and
a controller coupled to the robotic arm and the gripper, wherein the controller controls motion of the robotic arm and operation of the gripper, wherein the controller is configured to:
control the second sensor to obtain the second image, the second image showing the engine element and the target location within the engine element;
analyze the second image to determine coordinates of the target location and/or the engine element relative to the robotic arm;
control the robotic arm and the gripper to grip the engine component;
control the third sensor to obtain the third image, the third image showing the engine component and the gripper;
analyze the third image to determine coordinates of the engine component relative to the gripper;
control the robotic arm to position the gripper in a vicinity of the target location;
create a preliminary control path for insertion of the engine component at the target location based upon the analysis of the second image and the third image;
control the first sensor to obtain the first image, the first image showing the gripper, the engine element and reference marks on the gripper, and analyze the first image to determine coordinates of the gripper and the component relative to the target location;
update the preliminary control path to form a final control path based upon the analysis of the first image; and
controls to the robotic arm to insert the engine component to the engine element at the target location according to the final control path.