Systems and methods for providing dynamic robotic control systems
An articulated arm system is disclosed that includes an articulated arm including an end effector, and a robotic arm control systems including at least one sensor for sensing at least one of the position, movement or acceleration of the articulated arm, and a main controller for providing computational control of the articulated arm, and an on-board controller for providing, responsive to the at least one sensor, a motion signal that directly controls at least a portion of the articulated arm.
1. An articulated arm system comprising:
an articulated arm including a vacuum end effector; and
an articulated arm control system including:
at least one sensor for sensing a state of vacuum end effector;
a main controller remote from the articulated arm and configured to automatically provide at least one main control signal that controls a vacuum provided at the vacuum end effector; and
an on-board controller mounted on the articulated arm proximate the vacuum end effector and coupled to the at least one sensor, wherein the on-board controller is configured to automatically provide, responsive to an output of the at least one sensor, a vacuum control signal that modifies the at least one main control signal from the main controller to change an aspect of the vacuum provided at the vacuum end effector.
2. The articulated arm system as claimed in claim 1 , wherein the on-board controller and the at least one sensor are mounted at the wrist of the articulated arm.
3. The articulated arm system as claimed in claim 1 , wherein said articulated arm control system includes a plurality of sensors.
4. The articulated arm system as claimed in claim 3 , wherein said plurality of sensors include any of flow sensors, pressure sensors, cameras, torque sensors and deformation sensors.
5. The articulated arm system as claimed in claim 1 , wherein the articulated arm control system further includes a control junction that is coupled to the main controller and the on-board controller, and
wherein the control junction modifies the at least one main control signal provided by the main controller using the vacuum control signal provided by the on-board controller to change the aspect of the vacuum provided at the vacuum end effector.
6. The articulated arm system as claimed in claim 5 , wherein said vacuum end effector includes a plurality of end effector grippers, each of which includes a vacuum cup.
7. The articulated arm system as claimed in claim 6 , wherein each end effector gripper includes at least one pressure sensor.
8. The articulated arm system as claimed in claim 6 , wherein said end effector grippers are provided in an ordered array.
9. An articulated arm system comprising:
an articulated arm including a vacuum end effector; and
an articulated arm control system including:
at least one sensor for sensing a state of the vacuum end effector;
a main controller remote from the articulated arm and configured to automatically provide at least one main control signal that controls a vacuum provided at the vacuum end effector; and
an on-board controller mounted on the articulated arm proximate the vacuum end effector and coupled to the at least one sensor, wherein the on-board controller is configured to automatically provide, responsive to an output of the at least one sensor, a vacuum control signal that overrides the at least one main control signal from the main controller to change an aspect of the vacuum provided at the vacuum end effector.
10. The articulated arm system as claimed in claim 9 , wherein said articulated arm control system includes a plurality of sensors.
11. The articulated arm system as claimed in claim 10 , wherein said plurality of sensors include any of flow sensors, pressure sensors, cameras, torque sensors and deformation sensors.
12. The articulated arm system as claimed in claim 9 , wherein the articulated arm control system further includes a control junction that is coupled to the main controller and the on-board controller for controlling the vacuum provided at the vacuum end effector, and
wherein the control junction overrides the at least one main control signal provided by the main controller with the vacuum control signal provided by the on-board controller to change the aspect of the vacuum provided at the vacuum end effector.
13. The articulated arm system as claimed in claim 9 , wherein said vacuum end effector includes a plurality of end effector grippers, each of which includes a vacuum cup.
14. The articulated arm system as claimed in claim 13 , wherein each end effector gripper includes at least one pressure sensor.
15. The articulated arm system as claimed in claim 13 , wherein said end effector grippers are provided in an ordered array.
16. The articulated arm system as claimed in claim 9 , wherein the on-board controller and the at least one sensor are mounted at the wrist of the articulated arm.
17. A method of controlling a vacuum end effector of an articulated arm, the method comprising:
providing a main control signal from a main controller remote from an articulated arm to control a vacuum provided at the vacuum end effector of the articulated arm;
receiving by an on-board controller at least one output signal from at least one sensor that senses a state of the vacuum end effector, wherein the on-board controller and the at least one sensor are mounted on the articulated arm proximate the vacuum end effector; and
at least partially modifying the main control signal using a vacuum control signal provided by the on-board controller responsive to the at least one output signal from the at least one sensor to automatically provide a modified main control signal that changes an aspect of the vacuum provided at the vacuum end effector.
18. The method as claimed in claim 17 , wherein the main controller and the on-board controller are coupled to a control junction that modifies the at least one main control signal received from the main controller using the vacuum control signal received from the on-board controller.
19. The method as claimed in claim 17 , further comprises receiving output signals from a plurality of sensors.
20. The method as claimed in claim 19 , wherein said plurality of sensors include any of flow sensors, pressure sensors, cameras, torque sensors and deformation sensors.
21. A method of controlling a vacuum end effector of an articulated arm, the method comprising:
providing a main control signal from a main controller remote from the articulated arm to control a vacuum provided at the vacuum end effector of the articulated arm;
receiving by an on-board controller at least one output signal from at least one sensor that senses a state of the vacuum end effector, wherein the on-board controller and the at least one sensor are mounted on the articulated arm proximate the vacuum end effector; and
overriding the main control signal using a vacuum control signal provided by the on-board controller responsive to the at least one output signal from the at least one sensor to provide an overridden main control signal to that changes an aspect of the vacuum at the vacuum end effector.
22. The method as claimed in claim 21 , wherein the main controller and the on-board controller are coupled to a control junction that overrides the at least one main control signal received from the main controller using the vacuum control signal received from the on-board controller.
23. The method as claimed in claim 21 , further comprises receiving output signals from a plurality of sensors.
24. The method as claimed in claim 23 , wherein said plurality of sensors include any of flow sensors, pressure sensors, cameras, torque sensors and deformation sensors.
25. The method as claimed in claim 17 , wherein the on-board controller and the at least one sensor are mounted at the wrist of the articulated arm.
26. The method as claimed in claim 21 , wherein the on-board controller and the at least one sensor are mounted at the wrist of the articulated arm.