Systems and methods for providing contact detection in an articulated arm
A sensing manipulator of an articulated arm is disclosed. The sensing manipulator includes a compliant section and a movement detection system provided along a first direction of the compliant section such that movement of the compliant section along both the first direction and at least one direction transverse to said first direction, are detectable by the movement detection system.
1. A programmable motion system for grasping and moving objects, said programmable motion system comprising an end effector coupled to the programmable motion system and a movement detection system for detecting movement of the end effector with respect to the programmable motion system in at least two degrees of freedom, wherein the movement detection system includes at least one force sensitive resistor.
2. The programmable motion system as claimed in claim 1 , wherein the programmable motion system includes an articulated arm.
3. The programmable motion system as claimed in claim 1 , wherein the at least two degrees of freedom include any of load, pitch, roll and yaw.
4. The programmable motion system as claimed in claim 1 , wherein the end effector is coupled to a vacuum source.
5. The programmable motion system as claimed in claim 1 , wherein the end effector includes a tubular or conical bellows.
6. The programmable motion system as claimed in claim 1 , wherein the movement detection system includes at least three movement detectors.
7. The programmable motion system as claimed in claim 1 , wherein the movement detection system includes a magnetic field sensor.
8. The programmable motion system as claimed in claim 7 , wherein the movement detection system includes an attachment band around a portion of the end effector.
9. The programmable motion system as claimed in claim 1 , wherein the movement detection system detects any movement of the end effector with respect to the programmable motion system during movement of the object.
10. A programmable motion system for grasping and moving objects, said programmable motion system comprising an end effector coupled to the programmable motion system and a movement detection system for detecting angular movement of the end effector with respect to the programmable motion system, wherein the movement detection system includes at least one force sensitive resistor.
11. The programmable motion system as claimed in claim 10 , wherein the programmable motion system includes an articulated arm.
12. The programmable motion system as claimed in claim 10 , wherein the angular movement includes any of pitch, roll and yaw.
13. The programmable motion system as claimed in claim 10 , wherein the end effector is coupled to a vacuum source.
14. The programmable motion system as claimed in claim 10 , wherein the end effector includes a tubular or conical bellows.
15. The programmable motion system as claimed in claim 10 , wherein the movement detection system includes at least three movement detectors.
16. The programmable motion system as claimed in claim 10 , wherein the movement detection system includes a magnetic field sensor.
17. The programmable motion system as claimed in claim 16 , wherein the movement detection system includes an attachment band around a portion of the end effector.
18. The programmable motion system as claimed in claim 10 , wherein the movement detection system detects any movement of the end effector with respect to the programmable motion system during movement of the object.
19. A method of grasping and moving objects with an end effector of a programmable motion system, said method comprising:
grasping an object with the end effector;
lifting the object with the programmable motion system;
detecting movement of the end effector with respect to the programmable motion system in at least two degrees of freedom, wherein the detecting movement of the end effector with respect to the programmable motion system involves using at least one force sensitive resistor; and
adjusting any of a position or orientation of the end effector and the programmable motion device to reduce any movement of the end effector with respect to the programmable motion system.
20. The method as claimed in claim 19 , wherein the programmable motion system includes an articulated arm.
21. The method as claimed in claim 19 , wherein the at least two degrees of freedom include any of load, pitch, roll and yaw.
22. The method as claimed in claim 19 , wherein the end effector is coupled to a vacuum source.
23. The method as claimed in claim 19 , wherein the end effector includes a tubular or conical bellows.
24. The method as claimed in claim 19 , wherein the detecting movement of the end effector with respect to the programmable motion system involves using at least three movement detectors.
25. The method as claimed in claim 19 , wherein the detecting movement of the end effector with respect to the programmable motion system involves using a magnetic field sensor.
26. The method as claimed in claim 25 , wherein the magnetic field sensor includes an attachment portion that is attached to a portion of the end effector.
27. The method as claimed in claim 19 , wherein the method further includes thresholding deformation values upon contact with the object.
28. The method as claimed in claim 19 , wherein the method further includes adjusting a grasp position of the end effector on the object.
29. The method as claimed in claim 19 , wherein the method further includes detecting unexpected movement of end effector with respect to the programmable motion system during movement of the object.
30. A method of grasping and moving objects with an end effector of a programmable motion system, said method comprising:
grasping an object with the end effector and thresholding deformation values upon contact with the object;
lifting the object with the programmable motion system;
detecting movement of the end effector with respect to the programmable motion system in at least two degrees of freedom; and
adjusting any of a position or orientation of the end effector and the programmable motion device to reduce any movement of the end effector with respect to the programmable motion system.
31. The method as claimed in claim 30 , wherein the programmable motion system includes an articulated arm.
32. The method as claimed in claim 30 , wherein the at least two degrees of freedom include any of load, pitch, roll and yaw.
33. The method as claimed in claim 30 , wherein the end effector is coupled to a vacuum source.
34. The method as claimed in claim 30 , wherein the end effector includes a tubular or conical bellows.
35. The method as claimed in claim 30 , wherein the detecting movement of the end effector with respect to the programmable motion system involves using at least three movement detectors.
36. The method as claimed in claim 30 , wherein the detecting movement of the end effector with respect to the programmable motion system involves using at least one force sensitive resistor.
37. The method as claimed in claim 30 , wherein the detecting movement of the end effector with respect to the programmable motion system involves using a magnetic field sensor.
38. The method as claimed in claim 37 , wherein the magnetic field sensor includes an attachment portion that is attached to a portion of the end effector.
39. The method as claimed in claim 30 , wherein the method further includes adjusting a grasp position of the end effector on the object.
40. The method as claimed in claim 30 , wherein the method further includes detecting unexpected movement of end effector with respect to the programmable motion system during movement of the object.