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公开(公告)号：US20250018571A1
公开(公告)日：2025-01-16
申请号：US18747421
申请日：2024-06-18
Applicant: Path Robotics, Inc.
Inventor： Raghav Sood , Chaojie Feng , Surag Balajepalli , Katsu Yamane , Matthew Klein , Sneha Nayak , Andong Dai , Nima Ajam Gard
Abstract: This disclosure provides systems, methods, and apparatuses, including computer programs encoded on computer storage media, that provide for techniques for manufacturing robots, such as path clearance planning techniques for manufacturing robots. For example, the techniques may generating, based on an end effectuator (EE), a joint, or a combination thereof of a robot arm of the robot for the robot arm in a first state, a plurality of candidate states. The techniques also include, based on the plurality of candidate states, determining a set of verified states. Each verified state may be included in the set of verified states satisfies a clearance threshold value with respect to an object. The techniques further include determining, based on a cost function, a trajectory between the first state and a second state, the second state included in the set of verified states. Other aspects and features are also claimed and described.
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公开(公告)号：US12277369B2
公开(公告)日：2025-04-15
申请号：US17968150
申请日：2022-10-18
Applicant: Path Robotics, Inc.
Inventor： Alexander James Lonsberry , Andrew Gordon Lonsberry , Matthew Klein , Surag Balajepalli , Chaojie Feng , Rachit Aggarwal , Raghav Sood
IPC: G06F30/20 , G06F111/04 , G06F119/02
Abstract: In some examples, a method for determining weldable and unweldable portions of a seam comprises receiving a representation of a part including the seam. The method also includes discretizing a representation of the seam into a plurality of waypoints. The method also includes evaluating each waypoint from the plurality of waypoints for feasibility of welding. The method further includes generating a weld path through at least a subset of the plurality of waypoints in accordance with the feasibility of welding.
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公开(公告)号：US11759952B2
公开(公告)日：2023-09-19
申请号：US17853045
申请日：2022-06-29
Applicant: Path Robotics, Inc.
IPC: B25J9/16 , G06T7/70 , G06V20/20 , B23K9/095 , B23K9/127 , B23K26/03 , G01B11/25 , G05D3/20 , G06F18/24
CPC classification number: B25J9/1664 , B23K9/0956 , B23K9/1274 , B23K26/032 , G01B11/25 , G05D3/20 , G06T7/70 , G06V20/20 , G06F18/24 , G06T2207/10028 , G06V2201/06
Abstract: Systems and methods for real time feedback and for updating welding instructions for a welding robot in real time is described herein. The data of a workspace that includes a part to be welded can be received via at least one sensor. This data can be transformed into a point cloud data representing a three-dimensional surface of the part. A desired state indicative of a desired position of at least a portion of the welding robot with respect to the part can be identified. An estimated state indicative of an estimated position of at least the portion of the welding robot with respect to the part can be compared to the desired state. The welding instructions can be updated based on the comparison.
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公开(公告)号：US11407110B2
公开(公告)日：2022-08-09
申请号：US17379741
申请日：2021-07-19
Applicant: Path Robotics, Inc.
IPC: B25J9/16 , G06T7/70 , G06V20/20 , B23K9/095 , B23K9/127 , B23K26/03 , G01B11/25 , G05D3/20 , G06K9/62
Abstract: Systems and methods for real time feedback and for updating welding instructions for a welding robot in real time is described herein. The data of a workspace that includes a part to be welded can be received via at least one sensor. This data can be transformed into a point cloud data representing a three-dimensional surface of the part. A desired state indicative of a desired position of at least a portion of the welding robot with respect to the part can be identified. An estimated state indicative of an estimated position of at least the portion of the welding robot with respect to the part can be compared to the desired state. The welding instructions can be updated based on the comparison.
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