公开(公告)号：US20230001576A1

公开(公告)日：2023-01-05

申请号：US17673559

申请日：2022-02-16

申请人： Delta Electronics Int'l (Singapore) Pte Ltd

发明人： Yuh-Rong Chen ,  Guoqiang Hu ,  Chia Loon Cheng

IPC分类号： B25J9/16 ,  G05D1/02 ,  B25J5/00

摘要： An adaptive manipulation apparatus and method are provided. The adaptive manipulation method includes steps of providing a mobile manipulation apparatus comprising a manipulator, a sensor and a processor for a manipulation of an object placed on a carrier having a plurality of markers spaced apart from each other, the sensor detecting the plurality of markers to obtain a run time marker information, the processor, according to the base-case motion plan, generating a run time motion plan, wherein the run time motion plan comprises a plurality of second pose-aware actions, and the plurality of second pose-aware actions are modified from the plurality of first pose-aware actions according to the run time marker information, and the processor further executing the run time motion plan for controlling the manipulator to manipulate the object.