Abstract: An expanding locating pin assembly configured to locate and hold a part includes a housing, a locating pin, an actuating mechanism, and a controller. The housing is configured with a plurality of radial jaw guides and a part rest face. The locating pin has a plurality of jaws connected to and radially movable in the radial jaw guides and extending past the part rest face. The actuating mechanism synchronously moves the jaws to a radial position and applies a holding force to the part. The controller controls the radial position and the holding force of the jaws. The part rest face of the housing and the jaws of the locating pin are configured to receive the part in a located position. The jaws of the locating pin are configured to hold the part in the located position via the holding force and a friction force resulting from the holding force.

Abstract: A machine vision system including a digital camera can be employed to inspect an object in a field of view. This includes projecting digitally-generated light patterns including first and second boundary patterns and first and second spatial patterns onto the object in the field of view. Images associated with the projected light patterns including the object are captured. Spatial cells are found in the field of view by matching codes in the first and second spatial patterns to boundaries determined based upon one of the first and second boundary patterns. The spatial cells are found in the field of view by matching codes in the spatial patterns to boundaries determined based upon the boundary patterns. The spatial cells are decoded and matched to the boundaries. Three-dimensional (3D) point cloud data of the object is generated based upon the decoded spatial cells matched to the boundaries.

Abstract: A gripping device is described and includes a holder including a base and a conformable jamming element that has a conformable releasable surface-adhesive element secured onto its surface.

Abstract: A system, for planning a grasp for implementation by a grasping device having multiple grasping members, including a processor and a computer-readable storage device having stored thereon computer-executable instructions that, when executed by the processor, cause the processor to perform multiple operations. The operations include generating, for each of the multiple grasping members, multiple planar polygon representations of a three-dimensional object model. The operations also include transforming a planar polygon, of the multiple polygons generated, to a frame of a link of multiple links of a subject member of the multiple grasping members, forming a transformed polygon, being a cross-section of the object model taken along a member-curling plane of the subject member. The operations further include sweeping, in iterations associated respectively with each link of the subject member, the link from a fully-open position for the link to a point at which the link contacts the transformed planar polygon.

Abstract: A vision system is configured to dynamically inspect an object in a field of view. This includes capturing, using a camera, three-dimensional (3D) point cloud data of the field of view and transforming each of the points of the 3D point cloud data into a plurality of tangential surface vectors. Surface normal vectors are determined for each of the points of the 3D point cloud data based upon the plurality of tangential surface vectors. Distribution peaks in the surface normal vectors are detected employing a unit sphere mesh. Parallel planes are separated using the distance distribution peaks. A radially bounded nearest neighbor strategy combined with a process of nearest neighbor searching based upon cell division is executed to segment a planar patch. A planar surface is identified based upon the segmented planar patch.

Abstract: A machine vision system including a digital camera can be employed to inspect an object in a field of view, including capturing an original digital image including a multiplicity of pixels and associated light intensities for the field of view including the object. A bitmap image file is generated, and a mean value and a standard deviation of the light intensities of the multiplicity of pixels of the bitmap image file for the original digital image are dynamically determined. New image files are generated, each including a portion of the multiplicity of pixels having associated light intensities within a prescribed range of light intensities defined by the mean value and the standard deviation. Line segments are extracted from each of the new image files, and the extracted line segments from the new image files are merged and clustered to generate integral lines based thereon.

Abstract: A machine vision system including a digital camera can be employed to inspect an object in a field of view. This includes projecting digitally-generated light patterns including first and second boundary patterns and first and second spatial patterns onto the object in the field of view. Images associated with the projected light patterns including the object are captured. Spatial cells are found in the field of view by matching codes in the first and second spatial patterns to boundaries determined based upon one of the first and second boundary patterns. The spatial cells are found in the field of view by matching codes in the spatial patterns to boundaries determined based upon the boundary patterns. The spatial cells are decoded and matched to the boundaries. Three-dimensional (3D) point cloud data of the object is generated based upon the decoded spatial cells matched to the boundaries.

Abstract: A method of determining an optimal grasp pose of an object by an end-effector of a robot in the execution of a task includes receiving a set of inputs via a controller, including a descriptive parameter of the object, a task wrench having a frame of reference, and a commanded end-effector grasp force. The method includes calculating a grasp wrench in the frame of reference of the task wrench, rotating and shifting the grasp pose, and then computing a resultant new grasp wrench via the controller until the task wrench and the grasp wrench are optimally balanced. Additionally, the method includes recording the optimal grasp pose as the grasp pose at which the grasp and task wrenches are optimally balanced, and then executing a control action via the controller using the recorded optimal grasp pose. A robotic system includes the robot and a controller programmed to execute the method.

Abstract: A device for holding a workpiece includes a holder including a base including a magnetic element. A conformable jamming element attaches to the base and includes a closed impermeable pliable membrane containing magnetic particles. A controllable pressure device fluidly couples to the jamming element.

Abstract: A gripping device is described and includes a holder including a base and a conformable jamming element that has a conformable releasable surface-adhesive element secured onto its surface.

Abstract: A device for gripping a workpiece is described, and includes a holder including a base and a conformable jamming element. The conformable jamming element includes an air-impermeable pliable membrane containing filling material including magnetic particles, and is attached to the base. An electroadhesive element and a conformable releasable surface-adhesive element are secured to a surface of the membrane.

Abstract: A part holding assembly, an assembly system and a method of positioning a first part are disclosed. The part holding assembly is coupleable to a support structure. The part holding assembly includes a base adapted to be coupled to the support structure. The part holding assembly also includes a first pin extending outwardly away from the base to a distal end that is spaced from the base. The base is movable to position the first pin relative to a first part and to insert the distal end of the first pin through a first hole of the first part to locate the first part. The part holding assembly further includes a first magnet adjacent to the first pin. The first magnet is selectively magnetized to selectively secure the position of the first part relative to the base.

Abstract: A gripping device is described, and includes a holder including a base and a conformable jamming element having an electroadhesive element on a surface thereof and a controllable voltage source that is electrically connected to the electroadhesive element.

Abstract: A system for assisting an operator in a manual assembly task includes a base assembly, end-effector, and controller. The base assembly has joint actuators providing three or more degrees of freedom (DOF). The end-effector is in series with the base assembly and has additional joints providing one or more additional DOFs. The base assembly and end-effector support a task load, including a weight and/or a reaction torque of an object. Sensors measure joint positions. The controller receives the measured positions, controls the joint actuators to support the task load, and extends a range of motion of the object. A method includes receiving the position signals as the operator manipulates the object, generating an output signal using the measured positions, and transmitting the output signal to the joint actuators to control the joint actuators, support the task load, and extending a range of motion of the object.

Abstract: A robotic system includes a robot, a three-dimensional (3D) point cloud camera, and a controller. The camera outputs an image data file having two-dimensional (2D) color data and 3D depth data. The controller receives input criteria and the image data file, and detects 2D and 3D line segments in the image data file. Sets of new 3D lines are generated via back-projecting some of the 2D line segments onto some of the 3D line segments. The new 3D lines are grouped into intersecting lines, and the controller performs a normal vector grouping function on the intersecting lines to identify candidate planes. Intersecting planes are identified from the candidate planes, and candidate boxes are identified from the intersecting planes. The controller locates a target box from among the identified candidate boxes via the input criteria. A control action may be commanded on the target box by the end effector.

Abstract: A method of determining an optimal grasp pose of an object by an end-effector of a robot in the execution of a task includes receiving a set of inputs via a controller, including a descriptive parameter of the object, a task wrench having a frame of reference, and a commanded end-effector grasp force. The method includes calculating a grasp wrench in the frame of reference of the task wrench, rotating and shifting the grasp pose, and then computing a resultant new grasp wrench via the controller until the task wrench and the grasp wrench are optimally balanced. Additionally, the method includes recording the optimal grasp pose as the grasp pose at which the grasp and task wrenches are optimally balanced, and then executing a control action via the controller using the recorded optimal grasp pose. A robotic system includes the robot and a controller programmed to execute the method.

Abstract: A method for locating a first vehicle component relative to a second vehicle component includes the following steps: (a) moving the robotic arm to a first position such that a form feature of the first vehicle component is within a field of view of a camera; (b) capturing an image the form feature of the first vehicle component; (c) moving the robotic arm to a second position such that the form feature of the second vehicle component is within the field of view of the camera; (d) capturing an image of the form feature of the second vehicle component; (e) picking up the second vehicle component using the robotic arm; and (f) moving the robotic arm along with the second vehicle component toward the first vehicle component.

Abstract: A system for assembling a first component and a second component comprises a support operatively supporting the first component without any fixtures, a vision system configured to view the supported first component and the second component and determine the locations thereof, a robotic system configured to move and position the second component relative to the first component, and a controller operatively connected to the vision system and to the robotic system and operable to control the robotic system to position the second component relative to the first component based on the locations determined by the vision system. Various methods of assembling the first component and the second component are provided to create a process joint prior to creation of a structural joint in a subsequent assembly operation.

Abstract: A robotic system includes a robot, a three-dimensional (3D) point cloud camera, and a controller. The camera outputs an image data file having two-dimensional (2D) color data and 3D depth data. The controller receives input criteria and the image data file, and detects 2D and 3D line segments in the image data file. Sets of new 3D lines are generated via back-projecting some of the 2D line segments onto some of the 3D line segments. The new 3D lines are grouped into intersecting lines, and the controller performs a normal vector grouping function on the intersecting lines to identify candidate planes. Intersecting planes are identified from the candidate planes, and candidate boxes are identified from the intersecting planes. The controller locates a target box from among the identified candidate boxes via the input criteria. A control action may be commanded on the target box by the end effector.

Abstract: A system including a memory having instructions causing a processor to perform operations, for planning a grasping-device approach to an object by a grasping device, a pre-grasp device position, and a pre-grasp device pose. The operations comprise obtaining input data including grasping-device data, object data, and environmental-constraint data, determining, based on the grasping-device data, a grasp volume model, determining a test approach vector, and determining, using the vector, the constraint data, and the model, whether approach vector modification is needed. The operations also include modifying, if modification is needed, the test approach, yielding a resulting approach vector, and determining, if modification is not needed, that the test approach is the resulting approach vector.