US 12,083,682 B2
Motion planning of a robot for various environments and tasks and improved operation of same
Daniel Sorin, Boston, MA (US); George Konidaris, Boston, MA (US); Sean Murray, Cambridge, MA (US); William Floyd-Jones, Boston, MA (US); Peter Howard, Boston, MA (US); and Xianchao Long, Boston, MA (US)
Assigned to REALTIME ROBOTICS, INC., Boston, MA (US)
Filed by REALTIME ROBOTICS, INC., Boston, MA (US)
Filed on Jul. 12, 2023, as Appl. No. 18/221,027.
Application 18/221,027 is a continuation of application No. 16/981,467, granted, now 11,738,457, previously published as PCT/US2019/023031, filed on Mar. 19, 2019.
Claims priority of provisional application 62/646,102, filed on Mar. 21, 2018.
Prior Publication US 2023/0347519 A1, Nov. 2, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/16 (2006.01); B25J 9/00 (2006.01); B25J 13/08 (2006.01); B25J 15/00 (2006.01); B25J 15/04 (2006.01); B25J 17/02 (2006.01)
CPC B25J 9/1666 (2013.01) [B25J 9/0093 (2013.01); B25J 9/161 (2013.01); B25J 9/1697 (2013.01); B25J 13/088 (2013.01); B25J 15/0019 (2013.01); B25J 15/04 (2013.01); B25J 17/02 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A method of operation in a robotic system to perform an inspection of each of a plurality of assembled objects as the assembled objects are transported past one or more inspection stations, the robotic system including at least one motion planning processor and at least one robot, the at least one robot having at least one appendage, the at least one appendage having at least one joint and at least one sensor, the method comprising:
for each of the objects, capturing information that represents a respective position and orientation of the respective object;
processing by a plurality of logic circuits of the at least one motion planning processor to determine at least one motion plan for the at least one appendage of the at least one robot that moves the at least one appendage from a first pose to a second pose without collisions, the first pose being a first defined position and a first defined orientation of the at least one sensor carried by the at least one appendage, the second pose being a second defined position and a second defined orientation of the at least one sensor carried by the at least one appendage relative to one of the assembled objects being inspected; and
causing the at least one robot to execute at least one of the determined motion plans by moving the at least one appendage from the first pose to the second pose without collisions,
wherein the processing by a plurality of logic circuits of the at least one motion planning processor to determine at least one motion plan for the at least one appendage includes processing to account for at least one of a motion of a conveyor or a motion of the respective object to be assembled with respect to the conveyor.