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1. 发明申请

US20190143512A1 ROBOTIC ARM SYSTEM AND OBJECT AVOIDANCE METHODS 审中-公开
公开(公告)号：US20190143512A1
公开(公告)日：2019-05-16
申请号：US16247500
申请日：2019-01-14
申请人： Carbon Robotics, Inc.
发明人： Daniel Corkum , Rosanna Myers
IPC分类号： B25J9/16 , B23K26/08 , B23K26/38
摘要： One variation of a method for controlling a robotic arm includes: moving the robotic arm through a trajectory; at a first time in which the robotic arm occupies a first position along the trajectory, measuring a first capacitance of a first sense circuit comprising a first electrode extending over a first arm segment of the robotic arm; at a second time in which the robotic arm occupies a second position along the trajectory, measuring a second capacitance of the first sense circuit; calculating a first rate of change in capacitance of the first sense circuit based on a difference between the first capacitance and the second capacitance; in response to the first rate of change in capacitance of the first sense circuit exceeding a threshold rate of change, issuing a proximity alarm; and reducing a speed of the robotic arm moving through the trajectory in response to the proximity alarm.

2. 外观设计

USD892885S1 Robotic arm segment 有权
公开(公告)号：USD892885S1
公开(公告)日：2020-08-11
申请号：US29690055
申请日：2019-05-03
申请人： Carbon Robotics, Inc.
设计人： Daniel Corkum , Rosanna Myers
摘要： FIG. 1 is a right-hand view of a robotic arm segment in a first position.
FIG. 2 is a left-hand view of the robotic arm segment in the first position.
FIG. 3 is an upper-right-rear isometric view of the robotic arm segment in the first position.
FIG. 4 is an expanded right-hand view of the robotic arm segment in the first position.
FIG. 5 is a left-hand view of the robotic arm segment in a second position.
FIG. 6 is a right-hand view of the robotic arm segment in the second position.
FIG. 7 is a rear view of the robotic arm segment in the second position.
FIG. 8 is a front view of the robotic arm segment in the second position; and,
FIG. 9 is an upper-left-front isometric view of the robotic arm segment in the second position.
Broken lines in a dash-dash-dash pattern shown in the FIGURES depict environmental structure. Broken lines in a dash-dot-dash pattern shown in the FIGURES depict boundary lines and additional features of the robotic arm segment. Broken lines in a dot-dot-dot pattern shown in the FIGURES depict iconographic features of the robotic arm segment. However, no broken line shown in the FIGURES forms any part of the design claimed in the instant Application.

3. 发明申请

US20180126547A1 SYSTEM AND CALIBRATION, REGISTRATION, AND TRAINING METHODS 审中-公开
公开(公告)号：US20180126547A1
公开(公告)日：2018-05-10
申请号：US15707683
申请日：2017-09-18
申请人： Carbon Robotics, Inc.
发明人： Daniel Corkum , Rosanna Myers
IPC分类号： B25J9/00 , G05B19/423 , B25J9/16
摘要： One variation of a method for manipulating a multi-link robotic arm includes: accessing a virtual model of the target object; extracting an object feature representing the target object from the virtual model; at the robotic arm, scanning a field of view of an optical sensor for the object feature, the optical sensor arranged on a distal end of the robotic arm proximal an end effector; in response to detecting the object feature in the field of view of the optical sensor, calculating a physical offset between the target object and the end effector based on a position of the object feature in the field of view of the optical sensor and a known offset between the optical sensor and the end effector; and driving a set of actuators in the robotic arm to reduce the physical offset.

4. 发明申请

US20170066139A1 RECONFIGURABLE ROBOTIC SYSTEM AND METHODS 审中-公开
标题翻译：可重构机器人系统与方法
公开(公告)号：US20170066139A1
公开(公告)日：2017-03-09
申请号：US15260407
申请日：2016-09-09
申请人： Carbon Robotics, Inc.
发明人： Daniel Corkum , Rosanna Myers
IPC分类号： B25J15/00 , B25J15/04
CPC分类号： B25J15/0066 , B25J15/0019 , B25J15/04 , B25J15/0408 , B25J19/0033
摘要： One variation of a reconfigurable robotic system includes: a base; an arm extending from the base, including a set of articulable axes, and terminating at a head interface board defining a set of interface pins; a component interconnect arranged within the base, including a set of interconnect pins electrically coupled to the set of interface pins, and including a set of logic pins; a control card configured to transiently engage the component interconnect and including: a set of interconnect pads configured to contact the set of interconnect pins, a set of logic pads configured to contact the set of logic pins, and a control circuit interposed between the set of interconnect pads and the set of logic pads and including a set of independently selectable function circuits between each interconnect pad in a subset of the set of interconnect pads and corresponding logic pads in the set of logic pads.
摘要翻译：可重构机器人系统的一个变型包括：基座; 从基座延伸的臂，包括一组铰接轴，并终止在限定一组接口销的头接口板上; 布置在所述基座内的部件互连，包括电耦合到所述一组接口引脚的一组互连引脚，并且包括一组逻辑引脚; 控制卡，被配置为瞬时地接合所述部件互连并且包括：一组互连焊盘，其被配置为接触所述一组互连引脚;一组逻辑焊盘，被配置为接触所述一组逻辑引脚;以及控制电路，互连焊盘和一组逻辑焊盘，并且包括在该组互连焊盘的子集中的每个互连焊盘和该组逻辑焊盘中的相应逻辑焊盘之间的一组可独立选择的功能电路。

5. 发明申请

US20170066130A1 ROBOTIC ARM SYSTEM AND OBJECT AVOIDANCE METHODS 审中-公开
标题翻译：机器人ARM系统和对象避免方法
公开(公告)号：US20170066130A1
公开(公告)日：2017-03-09
申请号：US15260451
申请日：2016-09-09
申请人： Carbon Robotics, Inc.
发明人： Daniel Corkum , Rosanna Myers
IPC分类号： B25J9/16
CPC分类号： B25J9/1651 , B23K26/0884 , B23K26/38 , B23K2101/18 , B25J9/1664 , G05B2219/40454 , G05B2219/40519
摘要： One variation of a method for controlling a robotic arm includes: moving the robotic arm through a trajectory; at a first time in which the robotic arm occupies a first position along the trajectory, measuring a first capacitance of a first sense circuit comprising a first electrode extending over a first arm segment of the robotic arm; at a second time in which the robotic arm occupies a second position along the trajectory, measuring a second capacitance of the first sense circuit; calculating a first rate of change in capacitance of the first sense circuit based on a difference between the first capacitance and the second capacitance; in response to the first rate of change in capacitance of the first sense circuit exceeding a threshold rate of change, issuing a proximity alarm; and reducing a speed of the robotic arm moving through the trajectory in response to the proximity alarm.
摘要翻译：用于控制机器人臂的方法的一个变型包括：通过轨迹移动机器人手臂; 在所述机器人手臂沿着所述轨迹占据第一位置的第一时间，测量第一感测电路的第一电容，所述第一感测电路包括延伸在所述机器人手臂的第一臂部分上的第一电极; 在机器人手臂沿着轨迹占据第二位置的第二时间，测量第一感测电路的第二电容; 基于第一电容和第二电容之间的差来计算第一感测电路的第一电容变化率; 响应于第一感测电路的电容的第一变化率超过阈值变化率，发出接近警报; 并且响应于接近警报而降低机器人臂移动通过轨迹的速度。

6. 发明授权

US10723022B2 System and calibration, registration, and training methods 有权
公开(公告)号：US10723022B2
公开(公告)日：2020-07-28
申请号：US15707683
申请日：2017-09-18
申请人： Carbon Robotics, Inc.
发明人： Daniel Corkum , Rosanna Myers
IPC分类号： B25J9/16 , G05B19/423 , B25J9/00 , B25J19/02
摘要： One variation of a method for manipulating a multi-link robotic arm includes: accessing a virtual model of the target object; extracting an object feature representing the target object from the virtual model; at the robotic arm, scanning a field of view of an optical sensor for the object feature, the optical sensor arranged on a distal end of the robotic arm proximal an end effector; in response to detecting the object feature in the field of view of the optical sensor, calculating a physical offset between the target object and the end effector based on a position of the object feature in the field of view of the optical sensor and a known offset between the optical sensor and the end effector; and driving a set of actuators in the robotic arm to reduce the physical offset.

7. 发明授权

US10596700B2 System and calibration, registration, and training methods 有权
公开(公告)号：US10596700B2
公开(公告)日：2020-03-24
申请号：US15707648
申请日：2017-09-18
申请人： Carbon Robotics, Inc.
发明人： Daniel Corkum , Rosanna Myers
IPC分类号： B25J9/16 , B25J9/00 , G16H40/63 , G16Z99/00 , G05B19/423
摘要： A method for manipulating a multi-link robotic arm includes: at a first time, recording a first optical image through an optical sensor arranged proximal a distal end of the robotic arm proximal an end effector; detecting a global reference feature in a first position in the first optical image; virtually locating a global reference frame based on the first position of the global reference feature in the first optical image; calculating a first pose of the end effector within the global reference frame at approximately the first time based on the first position of the global reference feature in the first optical image; and driving a set of actuators within the robotic arm to move the end effector from the first pose toward an object keypoint, the object keypoint defined within the global reference frame and representing an estimated location of a target object within range of the end effector.

8. 发明授权

US10265863B2 Reconfigurable robotic system and methods 有权
公开(公告)号：US10265863B2
公开(公告)日：2019-04-23
申请号：US15260407
申请日：2016-09-09
申请人： Carbon Robotics, Inc.
发明人： Daniel Corkum , Rosanna Myers
IPC分类号： B25J15/00 , B25J15/04
摘要： One variation of a reconfigurable robotic system includes: a base; an arm extending from the base, including a set of articulable axes, and terminating at a head interface board defining a set of interface pins; a component interconnect arranged within the base, including a set of interconnect pins electrically coupled to the set of interface pins, and including a set of logic pins; a control card configured to transiently engage the component interconnect and including: a set of interconnect pads configured to contact the set of interconnect pins, a set of logic pads configured to contact the set of logic pins, and a control circuit interposed between the set of interconnect pads and the set of logic pads and including a set of independently selectable function circuits between each interconnect pad in a subset of the set of interconnect pads and corresponding logic pads in the set of logic pads.

9. 发明授权

US10213923B2 Robotic arm system and object avoidance methods 有权
公开(公告)号：US10213923B2
公开(公告)日：2019-02-26
申请号：US15260451
申请日：2016-09-09
申请人： Carbon Robotics, Inc.
发明人： Daniel Corkum , Rosanna Myers
IPC分类号： B25J9/00 , B25J9/16 , B23K26/08 , B23K26/38 , B23K101/18
摘要： One variation of a method for controlling a robotic arm includes: moving the robotic arm through a trajectory; at a first time in which the robotic arm occupies a first position along the trajectory, measuring a first capacitance of a first sense circuit comprising a first electrode extending over a first arm segment of the robotic arm; at a second time in which the robotic arm occupies a second position along the trajectory, measuring a second capacitance of the first sense circuit; calculating a first rate of change in capacitance of the first sense circuit based on a difference between the first capacitance and the second capacitance; in response to the first rate of change in capacitance of the first sense circuit exceeding a threshold rate of change, issuing a proximity alarm; and reducing a speed of the robotic arm moving through the trajectory in response to the proximity alarm.

10. 发明申请

US20180126553A1 SYSTEM AND CALIBRATION, REGISTRATION, AND TRAINING METHODS 审中-公开
公开(公告)号：US20180126553A1
公开(公告)日：2018-05-10
申请号：US15707648
申请日：2017-09-18
申请人： Carbon Robotics, Inc.
发明人： Daniel Corkum , Rosanna Myers
IPC分类号： B25J9/16 , B25J9/00 , G05B19/423
CPC分类号： B25J9/1664 , B25J9/0081 , B25J9/1692 , B25J9/1697 , G05B19/423 , G05B2219/39024 , G16H40/63 , G16Z99/00 , Y10S901/04 , Y10S901/15 , Y10S901/28 , Y10S901/47
摘要： A method for manipulating a multi-link robotic arm includes: at a first time, recording a first optical image through an optical sensor arranged proximal a distal end of the robotic arm proximal an end effector; detecting a global reference feature in a first position in the first optical image; virtually locating a global reference frame based on the first position of the global reference feature in the first optical image; calculating a first pose of the end effector within the global reference frame at approximately the first time based on the first position of the global reference feature in the first optical image; and driving a set of actuators within the robotic arm to move the end effector from the first pose toward an object keypoint, the object keypoint defined within the global reference frame and representing an estimated location of a target object within range of the end effector.

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