Abstract: The present disclosure relates to a gripping apparatus mounted to a robot arm for controllably placing an object on a surface. A gripper assembly supports a pair of gripping clamps which are configured to grip and release the object. The gripper assembly is mounted to the robot arm via a connector body. A sensor is configured to either measure a relative movement between the gripper assembly and the connector body, or to measure a force between the gripper assembly and the connector body. A controller is configured to stop the robot arm when the sensor indicates the measured relative movement or measured force exceeds a predefined threshold.

Abstract: The present disclosure relates to a gripping apparatus for controllably placing an object, the gripping apparatus including: a gripper assembly mounted to a robot arm via a connector body, the gripper assembly including a housing that supports one or more gripper drive assemblies operatively coupled to a pair of opposing gripping clamps, and in use the robot arm is configured to drive the gripper assembly along a placement axis towards a placement surface via the connector body; a sensor configured to either measure a relative movement between the gripper assembly and the connector body or to measure a force between the gripper assembly and the connector body, wherein the sensor generates a sensor output signal based on the measurement; and, a controller configured to send a stop signal to the robot arm to stop further drive of the gripper assembly along the placement axis when the sensor output signal indicates the measured relative movement or measured force exceeds a predefined threshold.

Abstract: A system for performing interactions within a physical environment including a robot base that undergoes movement relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of an end effector destination, determines a reference robot base position, calculates an end effector path extending to the end effector destination and repeatedly determines a current robot base position using signals from the tracking system, calculates a correction based on the current robot base position, the correction being indicative of a path modification, and controls the robot arm in accordance with the correction to move the end effector towards the end effector destination.

Abstract: A system for performing interactions within a physical environment including a robot base, a robot base actuator that moves the robot base relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of end effector destinations, determines a robot base position, calculates a robot base path extending from the robot base position in accordance with the end effector destinations to allow continuous movement of the robot base along the robot base path in accordance with a defined robot base path velocity profile and uses the robot base path to cause the robot base to be moved along the robot base path in accordance with the robot base path velocity profile.

Abstract: A system for performing interactions within a physical environment including a robot base, a robot base actuator that moves the robot base relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a tracking target position indicative of a position of a target mounted on the robot base. A control system acquires an indication of an end effector destination, determines a tracking target position at least in part using signals from the tracking system, determines a virtual robot base position offset from the robot base and calculates a robot base path extending from the virtual robot base position to the end effector destination, using this to control the robot base actuator to cause the robot base to be moved along the robot base path.

Abstract: A system for performing interactions within a physical environment including a robot base that undergoes movement relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of an end effector destination, and repeatedly determines a robot base position using signals from the tracking system, calculates an end effector path extending to the end effector destination at least in part using the robot base position, generates robot control signals based on the end effector path and applies the robot control signals to the robot arm to cause the end effector to be moved along the end effector path towards the destination.

Abstract: A system for performing interactions within a physical environment including a robot base that undergoes movement relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of an end effector destination, determines a reference robot base position, calculates an end effector path extending to the end effector destination and repeatedly determines a current robot base position using signals from the tracking system, calculates robot arm kinematics using the current robot base position and the end effector path and controls the robot arm to cause the end effector to be moved towards the end effector destination.