公开(公告)号：US20210197368A1

公开(公告)日：2021-07-01

申请号：US16731531

申请日：2019-12-31

Applicant: X Development LLC

Inventor： Andre Gaschler ,  Tim Niemueller

IPC: B25J9/16 ,  B25J13/08

Abstract: This specification describes how a system can detect that an envelope invariant with a corresponding condition has been violated and, in response to the detection, perform an automatic recovery action.

公开(公告)号：US20210339390A1

公开(公告)日：2021-11-04

申请号：US16865940

申请日：2020-05-04

Applicant: X Development LLC

Inventor： Andre Gaschler

IPC: B25J9/16 ,  B25J9/02

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot along a goal path. An initial Cartesian path is generated based on a goal path on a workpiece. Dynamic properties of the robot while the robot traverses an initial joint-space trajectory having an initial velocity profile are obtained. An adjusted velocity profile over the Cartesian path is generated based on the obtained dynamic properties. A trajectory is generated by combining the initial Cartesian path and the adjusted velocity profile.

公开(公告)号：US20210197377A1

公开(公告)日：2021-07-01

申请号：US16727024

申请日：2019-12-26

Applicant: X Development LLC

Inventor： Andre Gaschler

IPC: B25J9/16

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for robot plan online adjustment. A method includes receiving an initial plan for performing a particular task with a robot having a sensor. The initial plan defines an initial path having a plurality of waypoints and a footprint space for performing the particular task. The method includes receiving a sensor input from the sensor, and determining from the sensor input that the initial plan requires modification to complete the particular task. The method includes evaluating a plurality of alternative paths, including rejecting one or more alternative paths having any alternative waypoints that are outside the footprint space defined by the initial plan. The method includes selecting an alternative path having alternative waypoints that are all within the footprint space defined by the initial plan. The method includes following, by the robot, the alternative path.

公开(公告)号：US11537130B2

公开(公告)日：2022-12-27

申请号：US16728650

申请日：2019-12-27

Applicant: X Development LLC

Inventor： Andre Gaschler

IPC: G05D1/02 ,  B25J5/00 ,  B25J9/16

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing robot plan online adjustment. A method includes receiving an initial plan for performing a particular task with a robot having a sensor. The initial plan defines an initial path having a plurality of waypoints. Each waypoint is associated with a target position and a target velocity. The method includes generating an alternative path from the initial path. Generating an alternative path includes generating a plurality of alternative paths including performing respective modifications to one or more waypoints in the initial plan, evaluating each alternative path according to a simulated total time duration required for the robot to traverse the alternative path, and selecting an alternative path having a total time duration that is less than a total time duration of the initial plan.

公开(公告)号：US20210200219A1

公开(公告)日：2021-07-01

申请号：US16728650

申请日：2019-12-27

Applicant: X Development LLC

Inventor： Andre Gaschler

IPC: G05D1/02 ,  B25J9/16 ,  B25J5/00

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing robot plan online adjustment. A method includes receiving an initial plan for performing a particular task with a robot having a sensor. The initial plan defines an initial path having a plurality of waypoints. Each waypoint is associated with a target position and a target velocity. The method includes generating an alternative path from the initial path. Generating an alternative path includes generating a plurality of alternative paths including performing respective modifications to one or more waypoints in the initial plan, evaluating each alternative path according to a simulated total time duration required for the robot to traverse the alternative path, and selecting an alternative path having a total time duration that is less than a total time duration of the initial plan.

公开(公告)号：US20210197378A1

公开(公告)日：2021-07-01

申请号：US16728660

申请日：2019-12-27

Applicant: X Development LLC

Inventor： Ralf Oliver Michael Schönherr ,  Tim Niemueller ,  Andre Gaschler

IPC: B25J9/16

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing online robotic motion planning from pre-generated motion plans. A library of pre-generated motion plans for performing a particular task is maintained. Each pre-generated motion plan comprises a plurality of waypoints and one or more actions. One or more present observations of a robot in a workcell are obtained. The one or more observations are classified. A pre-generated candidate motion plan that matches the labels assigned to the present observations of the robot in the workcell is selected from the library of pre-generated motion plans. The pre-generated candidate motion plan is adapted according to the present observations of the robot in the workcell to generate a final motion plan to be executed by the robot.