Robotic arm and control system

Details Robotic arm and control system Robotic arm and control system

2007-11-13

2011-12-20

Trammell, James (Department: 3667)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S214000, C700S218000, C700S248000, C700S249000, C700S254000, C318S568110, C318S568160, C318S577000, C901S001000, C901S002000, C901S009000, C901S046000, C901S047000, C250S208100, C250S559330, C600S012000, C600S407000, C600S427000, C600S429000, C600S434000, C606S130000

Reexamination Certificate

active

08082064

ABSTRACT:
A robotic arm and control system includes a robotic arm which moves in response to one or more command signals. One or more “active” fiducials are located on the arm, each of which emits its own light. A 3D camera having an associated field-of-view is positioned such that at least one fiducial and a target object to be manipulated are in the FOV. To determine their spatial positions, the arm fiducials are activated and the target object is preferably illuminated with a scanning laser; the camera produces output signals which vary with the spatial locations of the fiducials and target object. A controller receives the output signals and uses the spatial position information as feedback to continuously guide the arm towards the target object. Multiple active fiducials may be employed, each having respective characteristics with which they can be differentiated.

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PCT Notification of the International Search Report and the Written Opinion of the International Searching Authority, Dated Apr. 28, 2009; For International Application No. PCT/US2008/004145.

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