公开(公告)号：US20190321980A1

公开(公告)日：2019-10-24

申请号：US16391920

申请日：2019-04-23

Applicant: UNIVERSITY OF SOUTHERN CALIFORNIA

Inventor： Satyandra Gupta ,  Ariyan Kabir ,  Brual Shah

IPC: B25J9/16

Abstract: Methods, systems, and apparatus for automatically moving a tool attached to a robotic manipulator from a start position to a goal position. The method includes determining, using a processor, a plurality of next possible positions from the start position. The method includes selecting a second position from the plurality of next possible positions based on respective costs associated with moving the tool from the start position to each of the possible positions in the plurality of next possible positions. The method includes moving, using a plurality of actuators, the tool to the second position. The method includes determining an updated plurality of next possible positions, selecting a next position, and moving the tool to the next position until the goal position is reached.

公开(公告)号：US11235466B2

公开(公告)日：2022-02-01

申请号：US16391676

申请日：2019-04-23

Applicant: UNIVERSITY OF SOUTHERN CALIFORNIA

Inventor： Satyandra Gupta ,  Ariyan Kabir ,  Brual Shah

IPC: B25J9/16

Abstract: Methods, systems, and platforms for automatic setup planning for a robot. The method includes sampling multiple poses in multiple dimensions within a robotic workspace. The method includes generating one or more candidate configurations based on the multiple poses. The method includes determining a score for each candidate configuration of the one or more candidate configurations. The score represents area coverage of a region of interest and at least one of an amount of setup time of the candidate configuration or an amount of energy used. The method includes determining a set of candidate configurations that has an overall area coverage that covers the region of interest based on the score for each candidate configuration. The method includes controlling a position and an orientation of the object based on the set of candidate configurations.

公开(公告)号：US20190321978A1

公开(公告)日：2019-10-24

申请号：US16391676

申请日：2019-04-23

Applicant: University of Southern California

Inventor： Satyandra Gupta ,  Ariyan Kabir ,  Brual Shah

IPC: B25J9/16

Abstract: Methods, systems, and platforms for automatic setup planning for a robot. The method includes sampling multiple poses in multiple dimensions within a robotic workspace. The method includes generating one or more candidate configurations based on the multiple poses. The method includes determining a score for each candidate configuration of the one or more candidate configurations. The score represents area coverage of a region of interest and at least one of an amount of setup time of the candidate configuration or an amount of energy used. The method includes determining a set of candidate configurations that has an overall area coverage that covers the region of interest based on the score for each candidate configuration. The method includes controlling a position and an orientation of the object based on the set of candidate configurations.

公开(公告)号：US11919239B2

公开(公告)日：2024-03-05

申请号：US18129757

申请日：2023-03-31

Applicant: UNIVERSITY OF SOUTHERN CALIFORNIA

Inventor： Rishi Malhan ,  Timotei Centea ,  Satyandra Gupta ,  Ariyan Kabir ,  Brual Shah ,  Aniruddha Shembekar

IPC: B29C64/379 ,  B25J9/00 ,  B25J11/00 ,  B29C64/393 ,  B29C70/38 ,  B33Y10/00 ,  B33Y30/00 ,  B33Y50/02

CPC classification number: B29C64/379 ,  B25J9/0087 ,  B25J11/005 ,  B29C64/393 ,  B29C70/386 ,  B33Y10/00 ,  B33Y30/00 ,  B33Y50/02

Abstract: Methods, systems, and robots for multi-layer prepreg composite sheet layup. The robotic system may include a memory for storing a dataset including start and end point pairs of a mold of a 3D part that defines a layup sequence, a first robot or a first robot arm that is configured to conform a prepreg layer or sheet onto the mold of the 3D part, and a second robot or a second robot arm that is configured to hold or grasp the prepreg layer or sheet above the mold of the 3D part and stretch or relax the prepreg layer or sheet when the first robot or the first robot arm conforms the prepreg layer or sheet onto the mold. The robotic system may also include one or more processors connected to the first robot or the first robot arm and the second robot or the second robot arm.

公开(公告)号：US11235467B2

公开(公告)日：2022-02-01

申请号：US16391920

申请日：2019-04-23

Applicant: UNIVERSITY OF SOUTHERN CALIFORNIA

Inventor： Satyandra Gupta ,  Ariyan Kabir ,  Brual Shah

IPC: B25J9/16

Abstract: Methods, systems, and apparatus for automatically moving a tool attached to a robotic manipulator from a start position to a goal position. The method includes determining, using a processor, a plurality of next possible positions from the start position. The method includes selecting a second position from the plurality of next possible positions based on respective costs associated with moving the tool from the start position to each of the possible positions in the plurality of next possible positions. The method includes moving, using a plurality of actuators, the tool to the second position. The method includes determining an updated plurality of next possible positions, selecting a next position, and moving the tool to the next position until the goal position is reached.

公开(公告)号：US20230249409A1

公开(公告)日：2023-08-10

申请号：US18129757

申请日：2023-03-31

Applicant: UNIVERSITY OF SOUTHERN CALIFORNIA

Inventor： Rishi Malhan ,  Timotei Centea ,  Satyandra Gupta ,  Ariyan Kabir ,  Brual Shah ,  Aniruddha Shembekar

IPC: B29C64/379 ,  B33Y10/00 ,  B33Y30/00 ,  B33Y50/02 ,  B29C64/393 ,  B25J9/00 ,  B25J11/00 ,  B29C70/38

CPC classification number: B29C64/379 ,  B33Y10/00 ,  B33Y30/00 ,  B33Y50/02 ,  B29C64/393 ,  B25J9/0087 ,  B25J11/005 ,  B29C70/386

Abstract: Methods, systems, and robots for multi-layer prepreg composite sheet layup. The robotic system may include a memory for storing a dataset including start and end point pairs of a mold of a 3D part that defines a layup sequence, a first robot or a first robot arm that is configured to conform a prepreg layer or sheet onto the mold of the 3D part, and a second robot or a second robot arm that is configured to hold or grasp the prepreg layer or sheet above the mold of the 3D part and stretch or relax the prepreg layer or sheet when the first robot or the first robot arm conforms the prepreg layer or sheet onto the mold. The robotic system may also include one or more processors connected to the first robot or the first robot arm and the second robot or the second robot arm.

公开(公告)号：US11628624B2

公开(公告)日：2023-04-18

申请号：US17260031

申请日：2019-08-07

Applicant: UNIVERSITY OF SOUTHERN CALIFORNIA

Inventor： Rishi Malhan ,  Timotei Centea ,  Satyandra Gupta ,  Ariyan Kabir ,  Brual Shah ,  Aniruddha Shembekar

IPC: B29C64/379 ,  B33Y10/00 ,  B33Y30/00 ,  B33Y50/02 ,  B29C64/393 ,  B25J9/00 ,  B25J11/00 ,  B29C70/38

Abstract: Methods, systems, and robots for multi-layer prepreg composite sheet layup. The method includes obtaining a dataset including start and end point pairs of a mold of the 3D part. The method includes generating a layup sequence based on the dataset and generating multiple trajectories for one or more movements of the first robot or the first robot arm based on the layup sequence. The method includes causing a second robot or a second robot art to hold or grasp the prepreg layer or sheet a threshold distance above the mold or the 3D part. The method includes causing the first robot or the first robot arm to place or conform the prepreg layer or sheet to the mold of the 3D part.

公开(公告)号：US20210316509A1

公开(公告)日：2021-10-14

申请号：US17260031

申请日：2019-08-07

Applicant: UNIVERSITY OF SOUTHERN CALIFORNIA

Inventor： Rishi Malhan ,  Timotei Centea ,  Satyandra Gupta ,  Ariyan Kabir ,  Brual Shah ,  Aniruddha Shembekar

IPC: B29C64/379 ,  B29C64/393 ,  B29C70/38 ,  B33Y10/00 ,  B33Y30/00 ,  B33Y50/02 ,  B25J11/00 ,  B25J9/00

Abstract: Methods, systems, and robots for multi-layer prepreg composite sheet layup. The method includes obtaining a dataset including start and end point pairs of a mold of the 3D part. The method includes generating a layup sequence based on the dataset and generating multiple trajectories for one or more movements of the first robot or the first robot arm based on the layup sequence. The method includes causing a second robot or a second robot art to hold or grasp the prepreg layer or sheet a threshold distance above the mold or the 3D part. The method includes causing the first robot or the first robot arm to place or conform the prepreg layer or sheet to the mold of the 3D part.