A robotic self-learning visual inspection method includes determining if a fixture on a component is known by searching a database of known fixtures. If the fixture is unknown, a robotic self-programming visually learning process is performed that includes determining one or more features of the fixture and providing information via a controller about the one or more features in the database such that the fixture becomes known. When the fixture is known, a robotic self-programming visual inspection process is performed that includes determining if the one or more features each pass an inspection based on predetermined criteria. A robotic self-programming visual inspection system includes a robot having one or more arms each adapted for attaching one or more instruments and tools. The instruments and tools are adapted for performing visual inspection processes.

A dynamic movement analytics system is disclosed that includes a programmable motion device including an end-effector, and a perception transfer system for receiving an object from the end-effector and for moving the object toward a distribution conveyance system moving in a first direction at a first speed. The perception transfer system includes at least one perception system for providing perception data regarding any of weight, shape, pose authority, position authority or identity information regarding the object and for moving the object along the first direction at the first speed for transferring the object to the distribution conveyance system.

A robotic grasp generation technique for machine tending applications. Part and gripper geometry are provided as inputs, typically from CAD files. Gripper kinematics are also defined as an input. Preferred and prohibited grasp locations on the part may also be defined as inputs, to ensure that the computed grasp candidates enable the robot to load the part into a machining station such that the machining station can grasp a particular location on the part. An optimization solver is used to compute a quality grasp with stable surface contact between the part and the gripper, with no interference between the gripper and the part, and allowing for the preferred and prohibited grasp locations which were defined as inputs. All surfaces of the gripper fingers are considered for grasping and collision avoidance. A loop with random initialization is used to automatically compute many hundreds of diverse grasps for the part.

The present disclosure is for systems and methods for adjusting operational configurations of robots in real-time. The invention pertains to overriding or replacing one operational configuration of a robot with another when appropriate circumstances arise and certain conditions have been met. In one aspect, the invention is applicable to robotic picking operations and serves to allow for unique robotic picking operations outside of the normal or standard limitations typically imposed on a robotic picking system. The invention provides the ability to remotely adjust robotic operational configurations in real-time, on-demand, in order to address various circumstances that may arise without requiring interruption of a picking session or requiring on-site human intervention.

An automated method determines a safety zone for a robot. The robot carries out operations along a specified trajectory. For collision-free operation, a safety zone is determined by: dividing the specified trajectory into a plurality of subtrajectories; determining a plurality of fine-grained envelope cuboids around extreme points of each subtrajectory; and determining a number of optimized envelope cuboids from an enlargement of individual fine-grained envelope cuboids in relation to the volume occupied by the enlarged fine-grained envelope cuboids. The optimized envelope cuboids determined in this way form the safety zone for the trajectory. This automated method can be expanded to multiple trajectories of a robot, multiple robots, and replanning a trajectory for an occupied semaphore zone.

According to one embodiment, a control system controls a robot. The control system includes a first system and a second system. The first system transmits a first command and supplementary data. The first command is represented using a specification different from a control command specification used by a controller of the robot. The supplementary data corresponds to the first command. The second system generates a second command based on the first command, attaches the supplementary data to the second command, and transmits the second command to the controller. The second command corresponds to the control command specification.

A system for inspecting each workpiece of a plurality of non-identical workpieces includes a controller in control communication with the instruments of the system, and a ruleset corresponding to one or more such non-identical workpieces, the system reconfiguring the inspection instruments to customize part tending operations for each such non-identical workpiece. A method for inspecting each workpiece of a plurality of non-identical workpiece includes providing a controller in control communication with the instruments of the system, and a ruleset corresponding to each such non-identical workpiece, the controller causing reconfiguration of the inspection instruments to customize part tending operations for each such non-identical workpiece.

A robotic system is disclosed to control multiple robots to cooperatively pick and place objects. In various embodiments, the robotic system includes a first robotic arm having a first end effector; a second robotic arm having a second end effector; and a control computer configured to use the first robotic arm and the second robotic arm to pick and place a plurality of objects, including by using the first robotic arm and the second robotic arm to work cooperatively to pick and place one or more of the objects.

Illustrative embodiments improve holding of a workpiece in an industrial process by placing the workpiece on or in a workpiece interface of a workholder and, prior to securing the workpiece on or in the workholder, vibrating the workpiece interface to settle the workpiece onto or into the workpiece interface. The act of vibrating the workpiece interface is separate and distinct from an act of securing the workpiece to the workpiece interface, and the vibration from the act of vibrating the workpiece interface is separate and distinct from vibration that may occur incidental to the act of securing the workpiece to the workpiece interface. Some embodiments of a workholder include a vibration actuator distinct from a workpiece interface actuator that opens and closes the workpiece interface. Some embodiments of workpiece interface include a set of one or more tapered guides to guide a workpiece onto the workpiece interface.

A dual-manipulator control method is configured to be used in a dual-manipulator control system including a first manipulator, a second manipulator, and a central control module. The first manipulator and the second manipulator are controlled by the central control module, and the central control module is configured to execute the dual-manipulator control method. The dual-manipulator control method includes: generating a first instruction sequence to control the first manipulator and a second instruction sequence to control the second manipulator; and controlling the first manipulator and the second manipulator based on the first instruction sequence and the second instruction sequence. Thus, the working efficiency is improved.