Reliable robotic manipulation in disordered environment

The present disclosure at least relates to reliable robotic manipulation in a disordered environment. One embodiment may provide a robotic system. The robot system may include: a robot arm including an end effector; the lighting unit comprises a plurality of monochromatic light sources with differen...

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Bibliographic Details
Main Authors DESAI AMAN A, WALLERIUS JOHN W, XU ZHENG
Format Patent
LanguageChinese
English
Published 20.10.2023
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:The present disclosure at least relates to reliable robotic manipulation in a disordered environment. One embodiment may provide a robotic system. The robot system may include: a robot arm including an end effector; the lighting unit comprises a plurality of monochromatic light sources with different colors; a structured light projector for projecting the encoded light pattern onto a scene; one or more cameras for capturing a pseudo-color image of a scene illuminated by the monochromatic light sources of different colors and a scene image with a projected coded light pattern; a posture determination unit for determining a posture of the component based on the pseudo-color image and the scene image having the projected coded light pattern; the path planning unit is used for generating a motion plan for the end effector based on the determined component posture and the current posture of the end effector; and a robot controller for controlling movement of the end effector according to the motion plan to allow t
Bibliography:Application Number: CN202310429411