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 . A robotic arm comprising:
a plurality of arm segments with an articulating joint between adjoining arm segments, each of the articulating joints including a motor configured to move the articulating joint;
a vacuum end effector at a distal end of one of the plurality of arm segments, the vacuum end effector including a vacuum supply controlled by a vacuum control to control a flow of vacuum to the vacuum end effector;
at least one sensor on at least one of the arm segments;
a robotic controller;
an on-board controller coupled to the at least one sensor; and
a plurality of control junctions coupling the robotic controller and the on-board controller to the motor of each of the articulating joints and the vacuum control,
wherein the robotic controller provides a first control signal to one or more of the control junctions to control at least one of the motor of a corresponding articulating joint and the vacuum control, and
wherein the on-board controller uses a signal from the at least one sensor to provide a second control signal to one or more of the control junctions to override the first control signal from the robotic controller to at least one of the motor of the corresponding articulating joint and the vacuum control.
2 . The robotic arm as claimed in claim 1 , wherein the at least one sensor is a force sensor.
3 . The robotic arm as claimed in claim 1 , wherein the at least one sensor is a depth sensor.
4 . The robotic arm as claimed in claim 1 , wherein the at least one sensor is a camera.
5 . The robotic arm as claimed in claim 1 , further comprising an alternative vacuum end effector and the vacuum control selectively directs the vacuum flow to the alternative vacuum end effector.
6 . The robotic arm as claimed in claim 1 , wherein the vacuum end effector is an array of end effector sections.
7 . The robotic arm as claimed in claim 6 , wherein the at least one sensor includes a pressure sensor at each end effector section of the array of end effector sections.
8 . A robotic arm comprising:
a plurality of arm segments with an articulating joint between adjoining arm segments, each of the articulating joints including a motor configured to move the articulating joint;
at least one sensor on at least one of the arm segments;
a robotic controller;
an on-board controller coupled to the at least one sensor; and
a plurality of control junctions coupling the robotic controller and the on-board controller to the motor of each articulating joint,
wherein the robotic controller provides a first motor control signal to the plurality of control junctions to control the motor of each articulating joint, and
wherein the on-board controller uses a signal from the at least one sensor to provide a second motor control signal to at least one of the control junctions to override the first motor control signal from the robotic controller to the motor of at least one of the articulating joints.
9 . The robotic arm as claimed in claim 8 , wherein the at least one sensor is a force sensor.
10 . The robotic arm as claimed in claim 8 , wherein the at least one sensor is a depth sensor.
11 . The robotic arm as claimed in claim 8 , wherein the at least one sensor is a camera.
12 . The robotic arm as claimed in claim 8 , further comprising a vacuum end effector and a vacuum control selectively directs vacuum flow to the vacuum end effector.
13 . The robotic arm as claimed in claim 12 , wherein the vacuum end effector is an array of end effector sections.
14 . The robotic arm as claimed in claim 13 , wherein the at least one sensor includes a pressure sensor at each end effector section of the array of end effector sections.
15 . A robotic arm comprising:
a remotely located main controller;
a plurality of arm segments with an articulating joint between adjoining arm segments, each of the articulating joints including a motor configured to move the articulating joint;
a vacuum end effector at a distal end of one of the plurality of arm segments, the vacuum end effector including a vacuum supply controlled by a vacuum control to control a flow of vacuum to the vacuum end effector;
at least one sensor on at least one of the arm segments;
an on-board controller coupled to the at least one sensor;
a first control junction coupling the remotely located main controller and the on-board controller to the motor of a corresponding articulating joint; and
a second control junction coupling the remotely located main controller and the on-board controller to the vacuum control,
wherein the remotely located main controller provides control signals to the first control junction and the second control junction to control the motor of the corresponding articulating joint and the vacuum control, and
wherein the on-board controller uses a signal from the at least one sensor to provide different control signals to the first control junction and the second control junction to override the control signals from the remotely located main controller to the motor of the corresponding articulating joint and the vacuum control.
16 . The robotic arm as claimed in claim 15 , wherein the at least one sensor is a force sensor.
17 . The robotic arm as claimed in claim 15 , wherein the at least one sensor is a depth sensor.
18 . The robotic arm as claimed in claim 15 , wherein the at least one sensor is a camera.
19 . The robotic arm as claimed in claim 15 , further comprising an alternative vacuum end effector and the vacuum control selectively directs the vacuum flow to the alternative vacuum end effector.
20 . The robotic arm as claimed in claim 15 , wherein the vacuum end effector is an array of end effector sections and the at least one sensor includes a pressure sensor at each end effector section of the array of end effector sections.