US 12,109,715 B2
Computer controlled positioning of delicate objects with low-contact force interaction using a robot
Venkata Vara Prasad Karri, Visakhapatnam (IN); and Sarbajit K. Rakshit, Kolkata (IN)
Assigned to International Business Machines Corporation, Armonk, NY (US)
Filed by International Business Machines Corporation, Armonk, NY (US)
Filed on Mar. 31, 2021, as Appl. No. 17/301,296.
Prior Publication US 2022/0314453 A1, Oct. 6, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1697 (2013.01) [B25J 9/1612 (2013.01); B25J 9/1653 (2013.01); B25J 13/089 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A computer implemented method of positioning an object using a computer-controlled positioning device, comprising:
identifying a computer and a positioning device operatively associated with said computer via a control interface, said positioning device having a hollow interior chamber;
identifying a selected object located at a primary location within said hollow interior chamber and having a primary orientation with respect thereto;
identifying a first array of elements constructed and arranged to generate contact- free support forces sufficient to maintain the selected object at said primary location;
identifying a second array of elements constructed and arranged to provide contact-free interaction forces sufficient to move said selected object within said hollow interior chamber; and
interacting with said object, by said computer using said interface, to adjust at least one of either said supporting forces and said interaction forces to place said selected object into at least one of a secondary location or a secondary orientation;
identifying, by said computer, a movable sleeve having a sleeve interior chamber coaxial with said positioning device hollow interior chamber;
moving, by said computer via said control interface, said movable sleeve into an extended position with respect to said positioning device hollow interior chamber; and
wherein said at least one of the secondary location or the secondary orientation is within said sleeve interior chamber.