Example methods and systems are disclosed for performing automated tasks with a robot system. In one example, a robot system includes a robotic arm and an end-effector coupled to the robotic arm. The end-effector is actuatable among more than two states of actuation. The robot system also includes a
Example methods and systems are disclosed for performing automated tasks with a robot system. In one example, a robot system includes a robotic arm and an end-effector coupled to the robotic arm. The end-effector is actuatable among more than two states of actuation. The robot system also includes an analog control switch located on the end-effector. The analog control switch is actuatable among more than two switch positions. The analog control switch is configured such that actuation of the analog control switch among the more than two switch positions causes a corresponding actuation of the end-effector among the more than two states of actuation.
대표청구항▼
1. A method of operating a robot system comprising: activating a training mode for the robot system, wherein the robot system includes a robotic arm, an end-effector coupled to the robotic arm, and an analog control switch located on the end-effector;receiving, by one or more controllers from a sens
1. A method of operating a robot system comprising: activating a training mode for the robot system, wherein the robot system includes a robotic arm, an end-effector coupled to the robotic arm, and an analog control switch located on the end-effector;receiving, by one or more controllers from a sensor, a first signal indicating a position of the robotic arm as the end-effector is manually moved along a path;receiving, by the one or more controllers from the analog control switch, a second signal indicating one or more actuations of the end-effector via the analog control switch at one or more points along the path, wherein each actuation of the end-effector comprises the analog control switch being actuated to a switch position selected from among more than two switch positions to cause a corresponding state of actuation of the end-effector among more than two states of actuation; andrecording, using the one or more controllers, the movements of the robotic arm based on the first signal and the actuations of the end-effector based on the second signal. 2. The method of claim 1, further comprising: after recording the movements of the robotic arm and the actuations of the end-effector in a training mode, activating an execution mode for the robot system; andresponsive to the activating the execution mode, the one or more controllers controlling the robotic arm and the end-effector to cause robotic arm and the end-effector to repeat the movements and the actuations recorded during the training mode. 3. The method of claim 1, wherein robot system further includes an enabling switch configured to prevent operation of the end-effector via the analog control switch unless the enabling switch is simultaneously actuated, and the method further comprises simultaneously actuating the enabling switch and the analog control switch at the one or more points along the path. 4. The method of claim 1, wherein the end-effector is a gripper having a plurality of gripper-fingers, the plurality of gripper-fingers each have a first-gripper position and a second-gripper position, and wherein the actuating the analog control switch to the selected switch position comprises actuating the analog control switch by an amount between a first-switch position and a second-switch position to cause a correspondingly proportional amount of actuation of the plurality of gripper-fingers between the first-gripper position and the second-gripper position. 5. The method of claim 1, further comprising: determining an amount of force applied by the end-effector to an object; andproviding an indication of the determined amount of force to the operator. 6. The method of claim 5, further comprising actuating the analog control switch based on the indication of the determined amount of force until a predetermined amount of force is applied to the object. 7. The method of claim 5, wherein providing the indication of the determined amount of force includes providing a haptic indication via one or more haptic actuators located on or embedded in the end-effector. 8. The method of claim 7, wherein the haptic indication has a haptic profile selected from a plurality of different haptic profiles based on the determined amount of force, each of the plurality of haptic profiles being associated with a respective one of a plurality of potential amounts of force. 9. The method of claim 5, further comprising: determining a force threshold value based on stored information related to the object; anddetermining that the amount of force applied by the end-effector to the object is greater than the force threshold value,wherein the indication is provided in response to the determination that the amount of force is greater than the force threshold value. 10. The method of claim 1, wherein an amount of actuation of the analog control switch is nonlinearly related to an amount of actuation of the end-effector responsive to the actuation of the analog control switch. 11. The method of claim 1, wherein the second signal is an analog signal. 12. A system, comprising: a robotic arm;an end-effector coupled to the robotic arm, the end-effector being actuatable among more than two states of actuation; andan analog control switch located on the end-effector, the analog control switch being actuatable among more than two switch positions;a sensor configured to generate a first signal indicating a position of the robotic arm; andone or more controllers communicatively coupled to the sensor and the analog control switch, wherein the one or more controllers are configured to: receive, from the sensor, the first signal indicating the position of the robotic arm as the end-effector is manually moved along a path,receive, from the analog control switch, a second signal indicating one or more actuations of the end-effector via the analog control switch at one or more points along the path, wherein the analog control switch is configured such that each actuation of the end-effector comprises the analog control switch being actuated to a switch position selected from among the more than two switch positions to cause a corresponding state of actuation of the end-effector among the more than two states of actuation, andrecord the movements of the robotic arm based on the first signal and the actuations of the end-effector based on the second signal. 13. The system of claim 12, wherein the one or more controllers are further configured to control the robotic arm and the end-effector to cause the robotic arm and the end-effector to repeat the recorded movements of the robotic arm and the recorded actuations of the end-effector. 14. The system of claim 12, wherein the end-effector is a gripper having a plurality of gripper-fingers, the plurality of gripper-fingers each have a first-gripper position and a second-gripper position, the more than two switch positions include a first-switch position and a second-switch position, and the analog control switch is configured such that actuating the analog control switch by an amount between the first-switch position and the second-switch position causes a correspondingly proportional amount of actuation of the plurality of gripper-fingers between the first-gripper position and the second-gripper position. 15. The system of claim 14, further comprising an enabling switch that is configured to prevent operation of the gripper using the analog control switch unless the enabling switch is simultaneously actuated. 16. The system of claim 14, further comprising a feedback system configured to determine and provide an indication of an amount of force applied by the gripper to an object in response to the actuation of the analog control switch. 17. The system of claim 16, wherein the feedback system includes a display device configured to provide a visual indication of the amount of force. 18. The system of claim 16, wherein the feedback system includes one or more haptic actuators configured to provide a haptic indication of the amount of force. 19. The system of claim 18, wherein the one or more haptic actuators are located on or embedded in the gripper. 20. The system of claim 19, wherein the haptic indication is a vibration having at least one of an intensity or a frequency that corresponds to the amount of force.
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이 특허에 인용된 특허 (11)
Helmer, Patrick; Conti, Francois; Grange, Sébastien; Rouiller, Patrice, Active gripper for haptic devices.
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