An approach to positioning one or more robotic arms in an assembly system may be described herein. For example, a system for robotic assembly may include a first robot, a second robot, and a control unit. The control unit may be configured to receive a first target location proximal to a second target location. The locations may indicate where the robots are to position the features. The control unit may be configured to calculate a first calculated location of the first feature of the first subcomponent, measure a first measured location of the first feature of the first subcomponent, determine a first transformation matrix between the first calculated location and the first measured location, reposition the first feature of the first subcomponent to the first target location using the first robot, the repositioning based on the first transformation matrix.

The future of manufacturing, agriculture, distribution, healthcare, and virtually every other labor-intensive endeavor is robotic - a multitude of autonomous, mobile, robotic systems. One of the many problems this will bring is the coordination of independently-navigating robots in limited spaces. Communication is the key to coordination. Examples herein provide means for robots to identify and localize each other in real-time using pulses of visible or infrared light, synchronized with wireless messages in 5G or 6G. For example, a fixed-position robot such as an assembly device can identify a mobile robot bringing raw components, by exchanging synchronized pulses and messages. Busy robots in a distribution center can avoid collisions and improve throughput by coordinating with other proximate robots, using the communication tools provided herein. Fixed-position robots can enforce boundary conditions and provide oversight, keeping innumerable mobile devices in-lane and on-task. Many other aspects and applications are provided.

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.

A robotic system includes first and second manipulator assemblies in an operating environment and having separately movable bases. A processing unit is configured to receive first sensor data from a first plurality of sensors disposed on the first manipulator assembly, wherein the first sensor data provide spatial information about the operating environment external to the first manipulator assembly. A first spatial relationship of the second manipulator assembly relative to the first manipulator assembly is determined using data including the first sensor data. A first alignment relationship between the first and second manipulator assemblies is established based on the first spatial relationship. Based on the first alignment relationship, motion of the second manipulator assembly is commanded in response to a command from a first input device operable by an operator.

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.

The purpose of the present invention is to construct a system in which a robot cell receives output from a laser oscillator separate from the robot cell and is irradiated with a laser beam, wherein the need for complicated wiring is obviated without introducing a safety support system such as a safety PLC. In the present invention, a safety signal from a robot cell is communicated from a robot controller to a laser oscillator, where the robot controller serves as a master unit and the laser oscillator serves as a slave unit, thereby making it possible to obviate the need for numerous wires and to carry out installation such that wiring is uncomplicated.

Systems and methods for motion mode management include a computer-assisted device having an input control, a repositionable structure, and a controller coupled to the input control and the repositionable structure. The controller is configured to detect movement of the input control, control movement of the repositionable structure based on the movement of the input control, determine whether the movement of the input control is likely to include one or more components of a mode switching movement of the input control, and in response to determining that the movement of the input control is likely to include one or more components of the mode switching movement, temporarily disable mode switching in response to movement of the input control. The mode switching movement changes a mode of operation for the device. In some embodiments, the temporarily disabling prevents changing the mode of operation when the movement is a mode switching movement.

Solutions for multi-robot configurations are co-optimized, to at least some degree, across a set of non-homogenous parameters based on a given set of tasks to be performed by robots in a multi-robot operational environment. Non-homogenous parameters may include two or more of: the respective base position and orientation of the robots, an allocation of tasks to respective robots, respective target sequences and/or trajectories for the robots. Such may be executed pre-runtime. Output may include for each robot: workcell layout, an ordered list or vector of targets, optionally dwell time durations at respective targets, and paths or trajectories between each pair of consecutive targets. Output may provide a complete, executable, solution to the problem, which in the absence of variability in timing, can be used to control the robots without any modification. A genetic algorithm, e.g., Differential Evolution, may optionally be used in generating a population of candidate solutions.

A robotic system includes control circuitry configured to cause actuation of one or more actuators of each of a first robotic arm and a second robotic arm. The control circuitry is configured to determine a position of a first end effector of the first robotic arm and a position of a second end effector of the second robotic arm, the positions of the first end effector and the second end effector forming a virtual rail, receive manual positioning input for the first robotic arm based at least in part on sensor signals from one or more sensors of the first robotic arm, and in response to the manual positioning input, generate a first movement command to move the first robotic arm in accordance with the manual positioning input and generate a second movement command to move the second robotic arm in a manner as to maintain at least one of a position or orientation of the second end effector relative to a point on the virtual rail.

In variants, a method for robot control can include: receiving sensor data of a scene, modeling the physical objects within the scene, determining a set of potential grasp configurations for grasping a physical object within the scene, determining a reach behavior based on the potential grasp configuration, determining a trajectory for the reach behavior, and grasping the object using the trajectory.