US 12,138,797 B2
Systems and methods for maintaining vacuum hose life in hose routing systems in programmable motion systems
Calvin Toothaker, Medford, MA (US); John Richard Amend, Jr., Belmont, MA (US); Benjamin Cohen, Somerville, MA (US); Christopher Geyer, Arlington, MA (US); Matthew T. Mason, Pittsburgh, PA (US); and Thomas Wagner, Concord, MA (US)
Assigned to Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed by Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed on May 15, 2023, as Appl. No. 18/197,298.
Application 18/197,298 is a continuation of application No. 16/855,015, filed on Apr. 22, 2020.
Claims priority of provisional application 62/838,747, filed on Apr. 25, 2019.
Prior Publication US 2023/0278206 A1, Sep. 7, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 15/06 (2006.01); B25J 18/00 (2006.01)
CPC B25J 9/1633 (2013.01) [B25J 15/0616 (2013.01); B25J 18/00 (2013.01)] 30 Claims
OG exemplary drawing
 
1. A method of minimizing forces on a vacuum hose in a programmable motion system, said method comprising:
identifying a candidate location along a candidate route in a work environment at which an end-effector of an articulated arm is to be positioned;
determining that the candidate location is within reach of the end-effector of the articulated arm;
digitally modeling an expected movement of the vacuum hose occurring during movement of the end-effector of the articulated arm along the candidate route to the candidate location;
determining whether the expected movement of the vacuum hose would place the vacuum hose under an amount of stress that exceeds a threshold; and
moving the end-effector along the candidate route to the candidate location responsive to the amount of stress not exceeding the threshold.