Robotic manipulator arm
A robot may include a manipulator arm including a plurality of links and one or more grippers configured to perform a gripper work. A camera may be positioned at an end of the manipulator arm to provide a direct line of sight to the grippers and observe the gripper work from above the grippers.
1 . A robot comprising:
a manipulator arm comprising:
a gripper configured to perform a gripper work;
a first link;
a second link rotatably connected to the first link at the first elbow joint; and
a third link rotatably connected to the second link at a second elbow joint,
wherein the gripper is positioned at the second elbow joint;
a cable receptacle mounted on the second link of the manipulator arm to prevent one or more cables from passing over a dynamic joint of the manipulator arm, wherein the cable receptacle comprises at least one port configured to connect at least one accessory to the robot;
a first camera positioned at an end of the third link to provide a first field-of-view comprising a direct line of sight to the gripper at the second elbow joint and observe the gripper work from above the gripper;
a second camera positioned at the end of the second link and below the grippers, wherein the second camera provides a second field-of-view to observe the gripper work from below the grippers; and
a third camera positioned proximate an end of the first link, wherein the third camera provides a third field-of-view that is wider than the second field-of-view.
2 . The robot of claim 1 , wherein:
the third camera is positioned to provide the third field-of-view for viewing the gripper work and flexibility to inspect in front of and behind the robot.
3 . The robot of claim 2 , further comprising:
a mobile platform configured to traverse the robot across a surface; and
a turret connecting the manipulator arm to the mobile platform.
4 . The robot of claim 3 , wherein the third camera is positioned at the turret.
5 . The robot of claim 3 , wherein the mobile platform comprises a pair of tracks configured to traverse the mobile platform across a surface.
6 . The system of claim 2 , wherein the first field-of-view, the second field-of-view, and the third field-of-view at least partially overlap.
7 . The robot of claim 1 , wherein the first camera is configured to pan, tilt, and zoom to provide the first field-of-view.
8 . The robot of claim 1 , wherein the at least one accessory includes a payload mounted to the second link of the manipulator arm.
9 . A system comprising:
the robot of claim 1 ; and
a controller configured to control operation of the robot.
10 . The system of claim 1 , wherein the gripper comprises magnetized tips.
11 . The robot of claim 1 , wherein the at least one port is configured to provide power or I/O communications to the at least one accessory.
12 . A method comprising:
positioning a first camera at an end of a third link of a manipulator arm to provide a first field-of-view comprising a direct line of sight to a gripper of the manipulator arm;
positioning a second camera at the end of a second link of the manipulator arm below the gripper, wherein the second link is rotatably connected to a first link at a first elbow joint;
positioning a third camera proximate an end of the first link of the manipulator arm, wherein the third link is rotatably connected to the second link at a second elbow joint, wherein the gripper is positioned at the second elbow joint;
connecting, using one or more cables, at least one accessory to at least one port of a cable receptacle mounted on the second link of the manipulator arm to prevent the one or more cables from passing over a dynamic joint of the manipulator arm;
observing, from above the gripper and by the first camera, a gripper work performed by the gripper;
observing, from below the gripper and by the second camera, the gripper work performed by the gripper, wherein the second camera provides a second field-of-view; and
observing, by the third camera, the gripper work performed by the gripper, wherein the third camera provides a third field-of-view that is wider than the second field-of-view.
13 . The method of claim 12 , wherein the third camera provides the third field-of-view for viewing the gripper work and flexibility to inspect in front of and behind the robot.
14 . The method of claim 13 , wherein the third camera is positioned at a turret of the manipulator arm.
15 . The method of claim 13 , wherein the first field-of-view, the second field-of-view, and the third field-of-view at least partially overlap.
16 . The method of claim 12 , further comprising controlling, by a controller, the robot through feedback from one or more of the cameras; and
wherein the controlling comprises:
manipulating the manipulator arm to position the grippers near an object; and
gripping the object with the grippers.
17 . The method of claim 16 , wherein the controller comprises traversing the robot across a surface.
18 . The method of claim 12 , further comprising mounting a payload or accessory to the second link of the manipulator arm.
19 . The method of claim 12 , wherein the gripper comprises magnetized tips.
20 . The method of claim 12 , wherein the at least one port is configured to provide power or I/O communications to the at least one accessory.