Berkshire Grey Operating Company, Inc. (Bedford, MA)

A disclosed articulated arms system includes an articulated-arm that has an end effector as well as a control system for robotic arms that has at least one sensor to detect at least one of the positions, movement or acceleration of the arm. Additionally, there is an main controller that offers computing control over the arm and an onboard controller that provides a motion signal that controls at least a small portion of it.

The invention is generally related to robotics and, particularly robotic control systems that can handle unexpected loads and conditions.

Most industrial robots are top-down in their operation. The controller is the first to sample various sensors and then logic on the same controller decides whether to perform any action. This flow of logic (often called “polling”) has advantages in that all control logic is situated at the same place. The majority of robotic systems sample signals very slowly. Additionally, all sensors have to be wired to the cabinet controlling them, leadingto lengthy and error-prone cable runs.

A legacy robot supplier like ABB Robotics, Inc. from Auburn Hills, Mich., Kuka Roboter GmbH, Germany, Fanuc America Corporation, of RochesterHills, Mich., and one of their top-tier integrations, would typically implement an example of this type of traditional architecture. All of them encourage the same architecture, and have similar form aspects. ABB IRC5 control cabinets, an ABB IRB2600 1.85 M reach robot, and an ABB IRB2600 1.85 m reach robot and a Miller GMAW welder can all be found in an automotive welding cell. A endo-farm device mounts a GMAW torch (e.g. Tregaskiss Tough gun) and wires it over to the IRC5. Programming is entirely done on the IRC5. The final effector is not aware of the world, and can only observe or prevent crashes on the IRC5.

These systems aren’t able to rapidly sample signals and require wires to the control cabinets. There remains a need therefore for a control system that is capable of providing reliable and efficient flexible control and adaptability to changes in the environment of the robot.

In conformity with the embodiment of the invention, it offers an articulated arm arm system which includes an articulated arm that includes an end effector, as well as a robotic arm control system comprising at least one sensor for sensing at least one position, movement or acceleration of the articulated arms, and an on-board controller that provides computational control of the articulated arm, and an on-board controller for providing an on-board controller that is responsive to at least one sensor, a motion signal that directly controls at least a small portion of the articulated arm.

According to a different embodiment, the invention comprises an articulated arms control system that comprises an end effector as well as an articulated control system. The system includes an articulated arm with an articulated arm, an ending effector and an articulated control system. It also comprises an articulatedarm control device with at least one sensor to sense at least one of the positions, movement, or acceleration of the articulated arms, the main controller for computational control for the articulatedarm, and an onboard controller that can give, in response to at the least one sensor, a control signal to the maincontroller

In a different embodiment, the invention provides a method of providing a control signal at the end effector of articulated arm. The method comprises of supplying a main control signal from a main controller to an end effector of the articulated arm, receiving an input signal from at least one sensor that is located proximate the end effector, and at least partially altering the control signal to respond to the sensor input signal.

A further version of the invention describes a method for providing commands to articulated arm’s ends effectors. This method includes the following steps: supplying primary control signal from a central controller for the articulated arm’s endeffector and receiving an input signal from the sensor placed close to the end effector, and overriding that main control signal.

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