公开(公告)号：US20240286284A1

公开(公告)日：2024-08-29

申请号：US18586119

申请日：2024-02-23

Applicant: Dexterity, Inc.

Inventor： Robert Holmberg ,  Michael Fisher ,  Zhouwen Sun ,  Samir Menon ,  Vikas Agrawal ,  Avinash Verma

IPC: B25J9/16 ,  B25J18/00

CPC classification number: B25J9/1664 ,  B25J18/00

Abstract: A robotic system includes a robotic arm that includes a first joint that connects a first segment to a second segment, the first segment being connected at an end of the first segment opposite the first joint to a shoulder joint of the robotic arm and the second segment being connected at an end of the second segment opposite the first joint to an elbow joint of the robotic arm; and a processor coupled to the robotic arm and configured to receive an end effector trajectory and determine a motion plan to move the end effector through the end effector trajectory, including by using the first joint to vary the distance between the shoulder joint and the elbow joint, as and if needed, to realize the end effector trajectory while using the joints and links other than the first joint in a preferred pose.

公开(公告)号：US20240075615A1

公开(公告)日：2024-03-07

申请号：US18239600

申请日：2023-08-29

Applicant: Dexterity, Inc.

Inventor： Avinash Verma ,  Robert Holmberg ,  Gil Matzliach ,  Luis Sentis ,  Salvador Perez ,  Samir Menon ,  Zhouwen Sun

IPC: B25J9/16 ,  B25J9/00 ,  B25J9/02

CPC classification number: B25J9/1643 ,  B25J9/0009 ,  B25J9/0087 ,  B25J9/023 ,  B25J9/1682

Abstract: A robot having seven or more degrees of freedom is disclosed. In various embodiments, the robot includes a positioning robot having m degrees of freedom and a manipulator robot having n degrees of freedom coupled to the positioning robot. The robot is configured to be operated in a first mode of operation, in which the positioning robot is controlled to position move the manipulator robot into a position to perform a task and the manipulator robot is controlled independently of the positioning robot to perform the task; and in a second mode of operation, in which at least a subset of the m degrees of freedom of the positioning robot and at least a subset of the n degrees of freedom of the manipulator robot are controlled together, by a single controller, to perform the task.

公开(公告)号：US20240058960A1

公开(公告)日：2024-02-22

申请号：US18233260

申请日：2023-08-11

Applicant: Dexterity, Inc.

Inventor： Avinash Verma ,  Robert Holmberg ,  Gil Matzliach ,  Luis Sentis ,  Salvador Perez ,  Samir Menon ,  Zhouwen Sun

IPC: B25J9/16 ,  B25J17/02

CPC classification number: B25J9/1664 ,  B25J17/0283

Abstract: A robot having seven or more degrees of freedom is disclosed. In various embodiments, the robot includes a positioning robot having m degrees of freedom and a manipulator robot having n degrees of freedom coupled to the positioning robot. The robot is configured to be operated in a first mode of operation, in which the positioning robot is controlled to position move the manipulator robot into a position to perform a task and the manipulator robot is controlled independently of the positioning robot to perform the task; and in a second mode of operation, in which at least a subset of the m degrees of freedom of the positioning robot and at least a subset of the n degrees of freedom of the manipulator robot are controlled together, by a single controller, to perform the task.