Abstract: A system includes a controller and a serial robot having links that are interconnected by a joint, wherein the robot can grasp a three-dimensional (3D) object in response to a commanded grasp pose. The controller receives input information, including the commanded grasp pose, a first set of information describing the kinematics of the robot, and a second set of information describing the position of the object to be grasped. The controller also calculates, in a two-dimensional (2D) plane, a set of contact points between the serial robot and a surface of the 3D object needed for the serial robot to achieve the commanded grasp pose. A required joint angle is then calculated in the 2D plane between the pair of links using the set of contact points. A control action is then executed with respect to the motion of the serial robot using the required joint angle.

Abstract: A reconfigurable gripping device for securely gripping, lifting, and transporting a work piece is provided. The reconfigurable gripping device may include at least a first finger and a second finger each secured to a base platform with a base support. Each of the respective fingers may have a first link, a second link, and a third link each having a corresponding drive mechanism to individually drive the respective link. The first link drive mechanism and second link drive mechanism are configured to control the grasp and adaptability of each of the respective fingers to place the third link upon a work piece. The third link drive mechanism is configured to drive the third link of each of the respective fingers to apply a clamping force upon the work piece.

Abstract: A system, for planning a grasp for implementation by a grasping device having multiple grasping members, comprising 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 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.

Abstract: A system for a work cell having a carrier that moves a product along an assembly line includes an assembly robot, sensor, and controller. An arm of the robot moves on the platform adjacent to the carrier. The sensor measures a changing position of the carrier and encodes the changing position as a position signal. The controller receives the position signal and calculates a lag value of the robot with respect to the carrier using the position signal. The controller detects a requested e-stop of the carrier when the arm and product are in mutual contact, and selectively transmits a speed signal to the robot to cause a calibrated deceleration of the platform before executing the e-stop event. This occurs only when the calculated tracking position lag value is above a calibrated threshold. A method is also disclosed for using the above system in the work cell.

Abstract: A moving stop station includes a vehicle carrier configured to move a vehicle along an assembly line, an assembly platform disposed adjacent to the assembly line, and a synchronizer in communication with the vehicle carrier and the assembly platform. The synchronizer is configured to synchronize the motion of the assembly platform with the motion of the vehicle carrier as the vehicle carrier moves along a length of the assembly line, and includes a sensor, processor, and actuator. The sensor is configured to sense the position of the vehicle carrier and to generate a position signal corresponding to the sensed position. The processor is configured to receive the position signal and selectively provide a synchronization signal in response, and the actuator is configured to receive the synchronization signal and synchronize the motion of the vehicle carrier and the motion of the assembly platform in response.

Abstract: A reconfigurable gripping device for securely gripping, lifting, and transporting a work piece is provided. The reconfigurable gripping device may include at least a first finger and a second finger each secured to a base platform with a base support. Each of the respective fingers may have a first link, a second link, and a third link each having a corresponding drive mechanism to individually drive the respective link. The first link drive mechanism and second link drive mechanism are configured to control the grasp and adaptability of each of the respective fingers to place the third link upon a work piece. The third link drive mechanism is configured to drive the third link of each of the respective fingers to apply a clamping force upon the work piece.

Abstract: A system for a work cell having a carrier that moves a product along an assembly line includes an assembly robot, sensor, and controller. An arm of the robot moves on the platform adjacent to the carrier. The sensor measures a changing position of the carrier and encodes the changing position as a position signal. The controller receives the position signal and calculates a lag value of the robot with respect to the carrier using the position signal. The controller detects a requested e-stop of the carrier when the arm and product are in mutual contact, and selectively transmits a speed signal to the robot to cause a calibrated deceleration of the platform before executing the e-stop event. This occurs only when the calculated tracking position lag value is above a calibrated threshold. A method is also disclosed for using the above system in the work cell.

Abstract: A method for maneuvering an articulable robotic arm includes monitoring a position of a dynamically moveable workpiece. Individual motion segments are iteratively executed to control the articulable robotic arm to position the end-of-arm tool contiguous to the workpiece and corresponding to an initial position of the end-of-arm tool, an initial position of the workpiece and an iteratively determined updated position of the workpiece.

Abstract: A system includes a controller and a serial robot having links that are interconnected by a joint, wherein the robot can grasp a three-dimensional (3D) object in response to a commanded grasp pose. The controller receives input information, including the commanded grasp pose, a first set of information describing the kinematics of the robot, and a second set of information describing the position of the object to be grasped. The controller also calculates, in a two-dimensional (2D) plane, a set of contact points between the serial robot and a surface of the 3D object needed for the serial robot to achieve the commanded grasp pose. A required joint angle is then calculated in the 2D plane between the pair of links using the set of contact points. A control action is then executed with respect to the motion of the serial robot using the required joint angle.

Abstract: A moving stop station includes a vehicle carrier configured to move a vehicle along an assembly line, an assembly platform disposed adjacent to the assembly line, and a synchronizer in communication with the vehicle carrier and the assembly platform. The synchronizer is configured to synchronize the motion of the assembly platform with the motion of the vehicle carrier as the vehicle carrier moves along a length of the assembly line, and includes a sensor, processor, and actuator. The sensor is configured to sense the position of the vehicle carrier and to generate a position signal corresponding to the sensed position. The processor is configured to receive the position signal and selectively provide a synchronization signal in response, and the actuator is configured to receive the synchronization signal and synchronize the motion of the vehicle carrier and the motion of the assembly platform in response.

Abstract: An electrical connection system includes a first electrical connector having a first plurality of electrically conductive elements. A second electrical connector has a second plurality of electrically conductive elements and is matable with the first electrical connector such that the first plurality of electrically conductive elements are in contact with the second plurality of electrically conductive elements. A probe is mounted with respect to the first electrical connector, and a receptacle is mounted with respect to the second electrical connector. The probe has a tip, an untapered section, a tapered section between the tip and the untapered section, and a cross-sectional shape that has no more than one plane of mirror symmetry. The receptacle defines a cavity having substantially the same cross-sectional shape as the probe.

Abstract: A method for maneuvering an articulable robotic arm includes monitoring a position of a dynamically moveable workpiece. Individual motion segments are iteratively executed to control the articulable robotic arm to position the end-of-arm tool contiguous to the workpiece and corresponding to an initial position of the end-of-arm tool, an initial position of the workpiece and an iteratively determined updated position of the workpiece.

Abstract: An electrical connection system includes a first electrical connector having a first plurality of electrically conductive elements. A second electrical connector has a second plurality of electrically conductive elements and is matable with the first electrical connector such that the first plurality of electrically conductive elements are in contact with the second plurality of electrically conductive elements. A probe is mounted with respect to the first electrical connector, and a receptacle is mounted with respect to the second electrical connector. The probe has a tip, an untapered section, a tapered section between the tip and the untapered section, and a cross-sectional shape that has no more than one plane of mirror symmetry. The receptacle defines a cavity having substantially the same cross-sectional shape as the probe.

Abstract: Methods, systems, and computer program products for providing an automated state change notification. Methods include activating a generic background task that uses open and public communication protocols on a computer controlled device. The state of a computer controlled device is checked via the background task without impacting native software functions on the computer controlled device. It is determined if the state has changed. If the state has changed, information about the state is transmitted to a recipient that is external to the computer controlled device.

Abstract: A data exchange system for use in vehicle assembly includes a data exchange mechanism exchanging vehicle software and/or diagnostic information between vehicle processors and an external processor. In one aspect, the data exchange mechanism is a portable memory device, such as a USB flash disk, alternately connecting to USB ports of the external processor and the vehicle. Vehicle software is automatically loaded onto vehicle processors by an interface processor connected to a CAN controller, and the processors similarly write back diagnostic information. In another aspect, the data exchange mechanism is a wireless mechanism, such as an iCHIP, connecting the external processor and vehicle processors through a communications network and a CAN controller. Vehicle processors individually wirelessly request appropriate vehicle software and/or provide diagnostic information.

Abstract: A parallel flash programming system for use in motor vehicle assembly includes an input receptive of information relating to a predetermined number of processors connected to a system bus, processor flash programming attributes, and system bus attributes. An incremental flash programming times determination module is adapted, based on the information, to determine incremental flash programming times of a processor in relation to multiple interframe wait times respective of multiple parallel flash programming schema in accordance with the predetermined number of processors. A global flash programming time resolution module is adapted to determine, based on incremental flash programming times respective of multiple processors of the predetermined number, an assignment of the multiple processors to a number of parallel programming tracks yielding a global flash programming time in accordance with predetermined criteria.

Abstract: A data exchange system for use in vehicle assembly includes a data exchange mechanism exchanging vehicle software and/or diagnostic information between vehicle processors and an external processor. In one aspect, the data exchange mechanism is a portable memory device, such as a USB flash disk, alternately connecting to USB ports of the external processor and the vehicle. Vehicle software is automatically loaded onto vehicle processors by an interface processor connected to a CAN controller, and the processors similarly write back diagnostic information. In another aspect, the data exchange mechanism is a wireless mechanism, such as an iCHIP, connecting the external processor and vehicle processors through a communications network and a CAN controller. Vehicle processors individually wirelessly request appropriate vehicle software and/or provide diagnostic information.

Abstract: A parallel flash programming system for use in motor vehicle assembly includes an input receptive of information relating to a predetermined number of processors connected to a system bus, processor flash programming attributes, and system bus attributes. An incremental flash programming times determination module is adapted, based on the information, to determine incremental flash programming times of a processor in relation to multiple interframe wait times respective of multiple parallel flash programming schema in accordance with the predetermined number of processors. A global flash programming time resolution module is adapted to determine, based on incremental flash programming times respective of multiple processors of the predetermined number, an assignment of the multiple processors to a number of parallel programming tracks yielding a global flash programming time in accordance with predetermined criteria.