US 12,145,258 B2
Systems and methods for providing dynamic robotic control systems
Thomas Wagner, Concord, MA (US); Kevin Ahearn, Nebo, NC (US); Matthew T. Mason, Pittsburgh, PA (US); Christopher Geyer, Arlington, MA (US); Thomas Koletschka, Cambridge, MA (US); Prasanna Velagapudi, Pittsburgh, PA (US); Michael Dawson-Haggerty, Pittsburgh, PA (US); Siddhartha Srinivasa, Seattle, WA (US); Kyle Maroney, North Attleboro, MA (US); Joseph Romano, Arlington, MA (US); Daniel Smith, Canonsburg, PA (US); Gene Temple Price, Cambridge, MA (US); and Thomas Allen, Reading, MA (US)
Assigned to Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed by Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed on Apr. 25, 2022, as Appl. No. 17/728,049.
Application 17/728,049 is a continuation of application No. 16/828,029, filed on Mar. 24, 2020, granted, now 11,370,128.
Application 16/828,029 is a continuation of application No. 15/254,592, filed on Sep. 1, 2016, granted, now 10,647,002, issued on May 12, 2020.
Claims priority of provisional application 62/221,976, filed on Sep. 22, 2015.
Claims priority of provisional application 62/212,697, filed on Sep. 1, 2015.
Prior Publication US 2022/0241989 A1, Aug. 4, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 15/06 (2006.01); B25J 9/16 (2006.01)
CPC B25J 15/0616 (2013.01) [B25J 9/1628 (2013.01); B25J 9/1697 (2013.01)] 31 Claims
OG exemplary drawing
 
1. A robotic system comprising:
a robot including an articulated arm and an end effector coupled thereto; and
a robot control system including:
at least one sensor for sensing at least one of a position, movement, acceleration, deformation, vacuum flow or vacuum pressure of the end effector;
a main controller remote from the robot and configured to execute a program to automatically provide at least one main control signal to the end effector; and
an on-board controller mounted on the robot proximate the end effector and coupled to the at least one sensor,
wherein the on-board controller is configured to receive a sensor output signal from the at least one sensor, send an interrupt signal responsive to the sensor output signal to stop the program being executed by the main controller, and override the at least one main control signal provided by the main controller to the end effector.