US 12,030,184 B2
System and method for error correction and compensation for 3D eye-to-hand coordination
Sabarish Kuduwa Sivanath, San Jose, CA (US); and Zheng Xu, Pleasanton, CA (US)
Assigned to eBots Inc., Fremont, CA (US)
Filed by eBots inc., Fremont, CA (US)
Filed on May 23, 2022, as Appl. No. 17/751,228.
Claims priority of provisional application 63/209,933, filed on Jun. 11, 2021.
Claims priority of provisional application 63/208,816, filed on Jun. 9, 2021.
Prior Publication US 2022/0402131 A1, Dec. 22, 2022
Int. Cl. G06F 17/00 (2019.01); B25J 9/16 (2006.01); B25J 19/02 (2006.01)
CPC B25J 9/1653 (2013.01) [B25J 9/161 (2013.01); B25J 9/163 (2013.01); B25J 9/1687 (2013.01); B25J 9/1692 (2013.01); B25J 19/023 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A robotic system, the system comprising:
a machine-vision module;
a robotic arm comprising an end-effector;
a robotic controller configured to control movements of the robotic arm; and
an error-compensation module configured to compensate for pose errors of the robotic arm by determining a controller-desired pose corresponding to a camera-instructed pose of the end-effector such that, when the robotic controller controls the movements of the robotic arm based on the controller-desired pose, the end-effector achieves, as observed by the machine-vision module, the camera-instructed pose;
wherein the error-compensation module comprises a machine learning model configured to output an error matrix that correlates the camera-instructed pose to the controller-desired pose.