Robotic devices and methods for fabrication, use and control of same
Various embodiments relate to magnetically moveable displacement devices or robotic devices. Particular embodiments provide systems and corresponding methods for magnetically moving multiple movable robots relative to one or more working surfaces of respective one or more work bodies, and for moving robots between the one or more work bodies via transfer devices. Robots can carry one or more objects among different locations, manipulate carried objects, and/or interact with their surroundings for particular functionality including but not limited to assembly, packaging, inspection, 3D printing, test, laboratory automation, etc. A mechanical link may be mounted on planar motion units such as said robots.
1. An apparatus for moving one or more magnetically moveable devices, the apparatus comprising:
a work body comprising a plurality of electrically conductive coils and a work surface upon which the one or more magnetically moveable devices are configured to be controllably moved within at least two degrees of freedom, wherein the one or more magnetically moveable devices and the plurality of electrically conductive coils are on opposite sides of the work surface;
one or more controllers configured to controllably move the one or more magnetically moveable devices over the work surface by driving one or more currents through at least one of the plurality of electrically conductive coils so as to modulate one or more magnetic fields and thereby controllably and magnetically levitate the one or more magnetically moveable devices; and
one or more obstacles,
wherein the one or more controllers are further configured to:
generate, based on one or more positions of the one or more obstacles, one or more trajectories; and
controllably move the one or more magnetically moveable devices according to the one or more trajectories so as to avoid the one or more obstacles.
2. The apparatus of claim 1 , wherein the one or more controllers are further configured to:
controllably move the one or more magnetically moveable devices according to the one or more trajectories so as to move the one or more magnetically moveable devices around the one or more obstacles.
3. The apparatus of claim 1 , wherein the at least two degrees of freedom include a degree of freedom along a z-axis perpendicular to the work surface and a degree of freedom along an x-axis or a y-axis parallel to the work surface.
4. The apparatus of claim 1 , wherein:
the work surface comprises work cells and one or more routing regions connecting the work cells; and
the one or more controllers are further configured to move at least one of the one or more magnetically moveable devices from at least one of the work cells to at least another one of the work cells, via at least one of the one or more routing regions.
5. The apparatus of claim 4 , wherein each work cell is configurable between an activated state and a deactivated state, and wherein the one or more controllers are further configured to:
prevent movement of at least one of the one or more magnetically moveable devices from at least one of the one or more routing regions and into any work cell that is in the activated state.
6. The apparatus of claim 5 , wherein the one or more obstacles comprise at least one work cell that is in the activated state.
7. The apparatus of claim 1 , wherein the one or more obstacles comprise a two-dimensional area of the work surface that is configurable between:
an activated state, wherein when in the activated state the one or more magnetically moveable devices are not allowed or are otherwise unable to move into or within the two-dimensional area; and
a deactivated state, wherein when in the deactivated state the one or more magnetically moveable devices are allowed or are otherwise able to move into or within the two-dimensional area.
8. The apparatus of claim 1 , wherein the one or more obstacles include at least one obstacle whose position is fixed relative to the work surface.
9. The apparatus of claim 1 , wherein the one or more obstacles include at least one obstacle whose position relative to the work surface is dynamically configurable.
10. The apparatus of claim 1 , further comprising a buffer system for temporarily storing at least one of the one or more magnetically moveable devices that is temporarily not needed on the work surface.
11. The apparatus of claim 1 , wherein the one or more controllers comprise:
one or more high-level control modules for generating the one or more trajectories; and
one or more low-level control modules for controllably moving the one or more magnetically moveable devices along the one or more trajectories.
12. The apparatus of claim 4 , wherein:
the one or more trajectories comprise one or more routing region trajectories and one or more work cell trajectories; and
the one or more controllers comprise:
one or more high-level control modules for generating the one or more routing region trajectories;
one or more work cell control modules for generating the one or more work cell trajectories; and
one or more low-level control modules for:
controllably moving, within the one or more routing regions, at least one of the one or more magnetically moveable devices along the one or more routing region trajectories; and
controllably moving, within the one or more work cells, at least one of the one or more magnetically moveable devices along the one or more work cell trajectories.
13. The apparatus of claim 4 , wherein the work surface comprises one or more queuing regions associated with at least one work cell of the work cells, and wherein the one or more controllers are further configured to:
determine that at least one magnetically moveable device in the at least one work cell has not completed their work; and
in response thereto, move at least one other magnetically moveable device to the queuing region.
14. The apparatus of claim 1 , wherein the one or more controllers are further configured to:
determine a temperature associated with one or more areas of the work surface; and
generate the one or more trajectories based on the determined temperature.
15. The apparatus of claim 1 , wherein the one or more controllers are further configured to:
determine a load carried by at least one magnetically moveable device; and
generate the one or more trajectories based on the determined load.
16. The apparatus of claim 1 , wherein the one or more controllers are further configured to:
determine an error in a position of at least one magnetically moveable device; and
adjust one or more of a speed and an acceleration of the at least one magnetically moveable device based on the determined error.
17. The apparatus of claim 1 , wherein the one or more magnetically moveable devices comprise multiple magnetically moveable device, and wherein the one or more controllers are further configured to:
determine, based on their respective trajectories generated by the one or more controllers, a likelihood of a collision between any two or more of the magnetically moveable devices; and
adjust, based on the determined likelihood, one or more of a speed and an acceleration of the two or more of the magnetically moveable devices.
18. The apparatus of claim 1 , wherein the one or more obstacles comprise a door separating a first area of the work surface from a second area of the work surface, and wherein the one or more controllers are further configured to:
determine that the door is open; and
after determining that the door is open, move a magnetically moveable device from the first area to the second area through the open door.
19. The apparatus of claim 18 , wherein the door separating the first area of the work surface from the second area of the work surface is a first door, wherein the one or more obstacles further comprise a second door separating the second area from a third area of the work surface, and wherein the one or more controllers are further configured to:
after moving the mover from the first area to the second area, determine that the first door is closed and that the second door is closed;
after determining that the first door is closed and that the second door is closed, determine that the second door has been opened; and
after determining that the second door has been opened, move the mover from the second area to the third area.
20. The apparatus of claim 1 , wherein the one or more obstacles comprise:
one or more doors separating one or more first areas of the work surface from one or more second areas of the work surface; and
at least one of the one or more first areas or the one or more second areas, wherein the at least one of the one or more first areas or the one or more second areas is a two-dimensional area of the work surface that is configurable between:
an activated state, wherein when in the activated state the one or more magnetically moveable devices are not allowed or are otherwise unable to move into or within the two-dimensional area; and
a deactivated state, wherein when in the deactivated state the one or more magnetically moveable devices are allowed or are otherwise able to move into or within the two-dimensional area.
21. The apparatus of claim 1 , wherein:
the one or more obstacles comprise one or more doors separating an isolator region from a region external to the isolator region; and
an environment within the region external to the isolator region is different from an environment within the isolator region.
22. The apparatus of claim 21 , wherein the environment external to the isolator region is an ambient environment, and wherein the environment within the isolator region comprises one or more of the following environments: high pressure, high temperature, low temperature, chemically reactive, corrosive, toxic, water-free, oxygen-free, pure nitrogen, inert gas, and polluted.
23. The apparatus of claim 21 , wherein the environment external to the isolator region is an ambient environment, and wherein the environment within the isolator region comprises a clean environment or a vacuum.