公开(公告)号：US20250033211A1

公开(公告)日：2025-01-30

申请号：US18787513

申请日：2024-07-29

Applicant: Worcester Polytechnic Institute

Inventor： Sean McGovern ,  Jing Xiao

IPC: B25J9/16 ,  B25J9/02

Abstract: A generalized approach and methodology for addressing surface traversal and coverage of a 3 Dimensional (3-D) object receives a 3-D wireframe or similar Cartesian based representation, converts the 3-D representation to a u,v system or mapping. Often employed for texture mapping, u.v grid systems define a two dimensional form of an object, often referred to as “unfolding” of an object. Configurations herein define a u.v grid system directly on the 3-D object for computing a coverage path, typically an aggregation of raster passes to traverse an entire 3-D surface. From a robotic manipulator, a 3D freeform surface, and task constraints, the approach determines whether there exists a feasible continuous motion plan to cover the surface, and if so, produces a uniform coverage path that best satisfies task constraints resulting from the physical object and robot kinematics.

公开(公告)号：US20240001551A1

公开(公告)日：2024-01-04

申请号：US18204509

申请日：2023-06-01

Applicant: Worcester Polytechnic Institute

Inventor： Jing Xiao ,  Shichen Cao ,  Huitan Mao

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1664 ,  B25J13/085 ,  B25J9/1653 ,  B25J9/1661

Abstract: A 6-axis robot performs autonomous complex assembly based on a task-independent approach by directing a robotic member on a first approach trajectory for placement of a grasped object, and determining that placement along the first trajectory is blocked. The robotic member has an end-effector at a distal end configured for compressively grasping the object. Blockage is determined by force and torque sensing encountered by the end effector prior to attaining an intended pose or position. The robot identifies a second, alternate approach trajectory for placement of the grasped object based on a probability of success of the second approach trajectory, resulting from considering probabilities of candidate trajectories or positions. The robotic member continues iterative placement based on successive, alternate trajectories until placement is achieved. The robot attempts a successive placement around localized positions/trajectories in response to increased probabilities and decreased distance/error from the desired pose.