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公开(公告)号：US20220347846A1
公开(公告)日：2022-11-03
申请号：US17246082
申请日：2021-04-30
发明人： Andre Gaschler , Gregory J. Prisament , Sean Alexander Cassero , Nils Berg , Michael Beardsworth , Nicholas Julian Cox , Benjamin Bremer
IPC分类号： B25J9/16
摘要： Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action. One of the methods comprises receiving, by a real-time robotics control framework, a definition of a custom real-time control function, wherein the definition specifies a plurality of actions and one or more custom reactions; repeatedly executing, by the real-time robotics control framework, the custom real-time control function at each tick of a real-time robotics system driving one or more physical robots, including: obtaining current values of one or more state variables, evaluating the one or more custom reactions specified by the custom real-time control function according to the current values of the one or more state variables, and whenever a custom reaction is satisfied, updating a current action in real time according to the custom reaction that is satisfied, and executing a next tick of the current action.
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公开(公告)号：US11691283B2
公开(公告)日：2023-07-04
申请号：US16885035
申请日：2020-05-27
发明人： Michael Beardsworth , Klas Jonas Alfred Kronander , Sean Alexander Cassero , Bala Venkata Sai Ravi Krishna Kolluri
IPC分类号： B25J9/16
CPC分类号： B25J9/1653 , B25J9/163 , B25J9/1664
摘要： Methods, systems, and apparatus, including computer programs encoded on computer storage media, for computing interpolated robot control parameters. One of the methods includes receiving, by a real-time bridge from a control agent for a robot, a non-real-time command for the robot, wherein the non-real-time command specifies a trajectory to be attained by a component of the robot and a target value for a control parameter, wherein the control parameter controls how a real-time controller will cause the robot to react to one or more external stimuli encountered during a control cycle of the real-time controller. The real-time bridge provides the one or more real-time commands translated from the non-real-time command and interpolated control parameter information to the real-time controller, thereby causing the robot to effectuate the trajectory of the non-real-time command according to the interpolated control parameter information.
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公开(公告)号：US11992948B2
公开(公告)日：2024-05-28
申请号：US17246002
申请日：2021-04-30
发明人： Andre Gaschler , Gregory J. Prisament , Sean Alexander Cassero , Nicholas Julian Cox , Benjamin Bremer , Nils Berg , Michael Beardsworth
IPC分类号： B25J9/16 , H04L65/65 , H04L69/329 , H04L67/12 , H04L69/321
CPC分类号： B25J9/1658 , B25J9/1628 , B25J9/1664 , H04L65/65 , H04L69/329 , G05B2219/40512 , H04L67/12 , H04L69/321
摘要： Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action that uses streaming inputs. One of the methods comprises receiving a definition of a custom real-time streaming control function that defines a custom streaming action, wherein the custom streaming action specifies a goal state for a robot in an operating environment; providing a command to initiate the custom streaming action; and repeatedly providing updated goal states for the custom streaming action, wherein the control layer of the framework is configured to execute the custom streaming action including driving the robot toward a most recent goal state at each tick of a real-time robotics control cycle.
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公开(公告)号：US20230286148A1
公开(公告)日：2023-09-14
申请号：US18319175
申请日：2023-05-17
发明人： Michael Beardsworth , Klas Jonas Alfred Kronander , Sean Alexander Cassero , Bala Venkata Sai Ravi Krishna Kolluri
IPC分类号： B25J9/16
CPC分类号： B25J9/1653 , B25J9/1664 , B25J9/163
摘要： Methods, systems, and apparatus, including computer programs encoded on computer storage media, for computing interpolated robot control parameters. One of the methods includes receiving, by a real-time bridge from a control agent for a robot, a non-real-time command for the robot, wherein the non-real-time command specifies a trajectory to be attained by a component of the robot and a target value for a control parameter, wherein the control parameter controls how a real-time controller will cause the robot to react to one or more external stimuli encountered during a control cycle of the real-time controller. The real-time bridge provides the one or more real-time commands translated from the non-real-time command and interpolated control parameter information to the real-time controller, thereby causing the robot to effectuate the trajectory of the non-real-time command according to the interpolated control parameter information.
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公开(公告)号：US20220347841A1
公开(公告)日：2022-11-03
申请号：US17245709
申请日：2021-04-30
发明人： Andre Gaschler , Gregory J. Prisament , Sean Alexander Cassero , Nicholas Julian Cox , Benjamin Bremer , Nils Berg , Michael Beardsworth
IPC分类号： B25J9/16
摘要： Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action that uses a callback function. One of the methods comprises receiving a definition of a custom real-time control function that specifies a custom callback function, an action, and a custom reaction that references the custom callback function; providing a command to initiate the action; repeatedly executing, by the control layer of the real-time robotics control framework, the custom real-time control function at each tick of a real-time robotics system driving one or more physical robots, including: obtaining current values of one or more state variables, evaluating the custom reaction specified by the custom real-time control function according to the current values of the one or more state variables, and whenever the one or more conditions of the custom reaction are satisfied, invoking the custom callback function.
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公开(公告)号：US12011832B2
公开(公告)日：2024-06-18
申请号：US17245709
申请日：2021-04-30
发明人： Andre Gaschler , Gregory J. Prisament , Sean Alexander Cassero , Nicholas Julian Cox , Benjamin Bremer , Nils Berg , Michael Beardsworth
IPC分类号： B25J9/16
CPC分类号： B25J9/1602 , B25J9/1682 , G05B2219/50391
摘要： Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action that uses a callback function. One of the methods comprises receiving a definition of a custom real-time control function that specifies a custom callback function, an action, and a custom reaction that references the custom callback function; providing a command to initiate the action; repeatedly executing, by the control layer of the real-time robotics control framework, the custom real-time control function at each tick of a real-time robotics system driving one or more physical robots, including: obtaining current values of one or more state variables, evaluating the custom reaction specified by the custom real-time control function according to the current values of the one or more state variables, and whenever the one or more conditions of the custom reaction are satisfied, invoking the custom callback function.
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公开(公告)号：US11904473B2
公开(公告)日：2024-02-20
申请号：US16730864
申请日：2019-12-30
IPC分类号： B25J9/16
CPC分类号： B25J9/1653 , B25J9/1607
摘要： Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing transformation mode switching in a robotics control system. One of the methods includes receiving data representing a state machine that defines one or more portions of a robotics task; executing a first control loop corresponding to a first node of the state machine, wherein executing the first control loop comprises providing commands to the robotic components computed from a first coordinate transformation process; determining, based on one or more status messages, that an exit condition for the first node has been satisfied; performing a mode switch between the first coordinate transformation process and a different second coordinate transformation process; and executing a second control loop corresponding to a second node of the state machine, wherein executing the second control loop comprises providing commands to the robotic components computed from the second coordinate transformation process.
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公开(公告)号：US11559893B2
公开(公告)日：2023-01-24
申请号：US16838641
申请日：2020-04-02
IPC分类号： B25J9/16
摘要： Methods, systems, and apparatus, including computer programs encoded on computer storage media, for avoiding singular configurations of a robot. A singular configuration of the robot is obtained. A location of an end effector of the robot when the robot is in the singular configuration is determined. For each of a plurality of voxels in a workcell, a distance from the voxel to the location of the end effector when the robot is in the singular configuration is computed. A negative potential gradient of the computed distance is computed. Control rules are generated, wherein the control rules, when followed by the robot, offset the trajectory of the robot according to the negative potential gradient.
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公开(公告)号：US20220347844A1
公开(公告)日：2022-11-03
申请号：US17246002
申请日：2021-04-30
发明人： Andre Gaschler , Gregory J. Prisament , Sean Alexander Cassero , Nicholas Julian Cox , Benjamin Bremer , Nils Berg , Michael Beardsworth
摘要： Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action that uses streaming inputs. One of the methods comprises receiving a definition of a custom real-time streaming control function that defines a custom streaming action, wherein the custom streaming action specifies a goal state for a robot in an operating environment; providing a command to initiate the custom streaming action; and repeatedly providing updated goal states for the custom streaming action, wherein the control layer of the framework is configured to execute the custom streaming action including driving the robot toward a most recent goal state at each tick of a real-time robotics control cycle.
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