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    System and Method for Robotic Calibration and Tuning
    2.
    发明申请
    System and Method for Robotic Calibration and Tuning 有权

    公开(公告)号：US20220410397A1

    公开(公告)日：2022-12-29

    申请号：US17772370

    申请日：2019-10-29

    Applicant: Biao Zhang ,  ABB Schweiz AG

    Inventor： Biao Zhang ,  Saumya Sharma ,  Yixin Liu ,  Jianjun Wang ,  William J. Eakins ,  Andrew M. Salm ,  Yun Hsuan Su ,  Jorge Vidal-Ribas ,  Jordi Artigas ,  Ramon Casanelles

    IPC: B25J9/16

    Abstract: A system and method for use of artificial and nature racking features to calibrate sensors and tune a robotic control system of a sensor fusion guided robotic assembly. The artificial tracking features can have a configuration, or be at a location, that may be less susceptible to noise and error. Thus, the sensors can at least initially be calibrated, and the control system initially tuned, using the first tracking features until the sensors and control system satisfy operation performance criteria. Second tracking features, which may correspond to features on a workpiece that will be utilized in an assembly operation performed by the robot. By pre-calibrating the sensors, and pre-tuning the control system prior to calibration using the second tracking features, sensor calibration and system tuning based on the second tracking features can be attained faster and with less complexity.

    METHOD AND SYSTEM FOR OBJECT TRACKING IN ROBOTIC VISION GUIDANCE
    4.
    发明申请
    METHOD AND SYSTEM FOR OBJECT TRACKING IN ROBOTIC VISION GUIDANCE 有权

    公开(公告)号：US20210331322A1

    公开(公告)日：2021-10-28

    申请号：US16856508

    申请日：2020-04-23

    Applicant: ABB Schweiz AG

    Inventor： Biao Zhang ,  Jianjun Wang ,  Yixin Liu ,  Saumya Sharma ,  Jorge Vidal-Ribas ,  Jordi Artigas ,  Ramon Casanelles

    IPC: B25J9/16 ,  B25J13/08

    Abstract: A system and method for predicting the location at which a feature that is being tracked during a robotic assembly operation will be located within one or more images captured by a vision device. A vision device can be mounted to a robot such that the location of the vision device as the robot moves can be known or determined. In the event of an interruption of the tracking of the feature by the vision device as the corresponding workpiece is moving, the location of the feature relative to a vision device can be predicted, such as, via use of current or past historical movement information for the feature and/or the associated workpiece. Using the predicted location of the feature and the known location of the vision device, the location at which the feature will be located in an image(s) captured by the vision device can be predicted.

    Incorporating Vision System and In-Hand Object Location System for Object Manipulation and Training
    8.
    发明申请
    Incorporating Vision System and In-Hand Object Location System for Object Manipulation and Training 有权

    公开(公告)号：US20210023715A1

    公开(公告)日：2021-01-28

    申请号：US16521025

    申请日：2019-07-24

    Applicant: ABB Schweiz AG

    Inventor： Biao Zhang ,  Yixin Liu ,  Thomas A. Fuhlbrigge ,  Saumya Sharma

    IPC: B25J9/16

    Abstract: A system and method of object manipulation and training including providing at least one robotic hand including a plurality of grippers connected to a body and providing a plurality of cameras disposed in a periphery surface of the grippers. The method also includes providing a plurality of tactile sensors disposed in the periphery surface of the grippers and actuating the grippers to grasp an object. The method further includes detecting a position of the object with respect to the robotic hand via a first image feed from the tactile sensors and detecting a position of the object with respect to the robotic hand via a second image feed from the cameras. The method also includes generating instructions to grip and manipulate an orientation of the object based on the first and the second image feeds for a visualization of the object relative to the robotic hand.

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