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: An enclosed structure is provided for use with a refrigerator having a door assembly. The enclosed structure preferably contains superinsulation materials and a plurality of matching drawers. The enclosed structure preferably includes corner joints which minimize thermal energy transfer between adjacent superinsulation panels. The refrigerator may include a cooling system having a thermoelectric device for maintaining the temperature within the refrigerator at selected values. If desired, a fluid cooling system and an active gasket may also be provided between the door assembly and the enclosed structure. The fluid cooling system preferably includes a second thermoelectric device to maintain the temperature of fluid flowing through the active gasket at a selected value. The drawers associated with the refrigerator may be used for gathering, processing, shipping and storing food or other perishable items.