US 12,330,307 B2
Robot with linear 7th axis
Andrew Lovett, Burlingame, CA (US); Zhouwen Sun, San Mateo, CA (US); Matthew Rodolfo Molina, San Francisco, CA (US); Robert Holmberg, Mountain View, CA (US); and Derek Pan, Palo Alto, CA (US)
Assigned to Dexterity, Inc., Redwood City, CA (US)
Filed by Dexterity, Inc., Redwood City, CA (US)
Filed on Nov. 23, 2022, as Appl. No. 17/993,595.
Application 17/993,595 is a continuation of application No. 17/716,433, filed on Apr. 8, 2022, granted, now 11,571,812.
Claims priority of provisional application 63/175,787, filed on Apr. 16, 2021.
Prior Publication US 2023/0092900 A1, Mar. 23, 2023
Int. Cl. B25J 9/16 (2006.01); G05B 19/4155 (2006.01)
CPC B25J 9/1661 (2013.01) [G05B 19/4155 (2013.01); G05B 2219/40269 (2013.01); G05B 2219/50391 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robotic control system, comprising
a memory configured to store a model of a robot having a plurality of axes of control including at least a first linear axis and one or more rotational axes, wherein the model is used to determine a solution space for controlling the robot that includes a possibility of the robot moving with respect to the first linear axis and the one or more rotational axes; and
one or more processors coupled to the memory and configured to:
determine to perform a task, the task including a pick/place operation with respect to an item in a robot workspace;
move the robot along the first linear axis to a first location that is within proximity of an item in the robot workspace, wherein:
the solution space for moving the robot comprises a set of solutions for controlling the robot when the robot is in proximity to the item; and
the solution space includes (i) a first set of solutions enabled by controlling the robot to perform the task at the first location by moving with respect to one or more rotational axes without further movement with respect to the first linear axis, and (ii) a second set of solutions enabled by controlling the robot to perform the task at the first location by moving with respect to one or more rotational axes and the first linear axis;
select a selected solution from the solution space; and
control the robot to perform the task according to the selected solution.