公开(公告)号：US11518045B1

公开(公告)日：2022-12-06

申请号：US16676580

申请日：2019-11-07

Applicant: UNIVERSITY OF SOUTH FLORIDA

Inventor： Redwan Alqasemi ,  Paul Mitzlaff ,  Andoni Aguirrezabal ,  Lei Wu ,  Karl Rothe ,  Rajiv Dubey

IPC: B25J15/00 ,  B25J15/02

Abstract: In one embodiment, a robotic end effector configured to mount to a robotic manipulator includes gripping elements configured to grasp objects, a drive mechanism configured to open and close the gripping elements, a central controller configured to control operation of the drive mechanism and the gripper elements, the central controller hosting a control program that enables control of the end effector independent of the robotic manipulator, and at least one of a forward-facing ultrasonic distance sensor configured to measure a distance between the gripping elements and an object to be grasped, and a forward-facing camera mounted between the gripping elements configured to capture video data of an object to be grasped.

公开(公告)号：US11986949B2

公开(公告)日：2024-05-21

申请号：US18074778

申请日：2022-12-05

Applicant: UNIVERSITY OF SOUTH FLORIDA

Inventor： Redwan Alqasemi ,  Paul Mitzlaff ,  Andoni Aguirrezabal ,  Lei Wu ,  Karl Rothe ,  Rajiv Dubey

IPC: B25J15/00 ,  B25J15/02

CPC classification number: B25J15/0038 ,  B25J15/0028 ,  B25J15/0033 ,  B25J15/022 ,  B25J15/0266

Abstract: In one embodiment, a robotic end effector configured to mount to a robotic manipulator includes gripping elements configured to grasp objects, a drive mechanism configured to open and close the gripping elements, a central controller configured to control operation of the drive mechanism and the gripper elements, the central controller hosting a control program that enables control of the end effector independent of the robotic manipulator, and at least one of a forward-facing ultrasonic distance sensor configured to measure a distance between the gripping elements and an object to be grasped, and a forward-facing camera mounted between the gripping elements configured to capture video data of an object to be grasped.

公开(公告)号：US20220288780A1

公开(公告)日：2022-09-15

申请号：US17689534

申请日：2022-03-08

Applicant: University of South Florida

Inventor： Lei Wu ,  Redwan Alqasemi ,  Rajiv Dubey

IPC: B25J9/16 ,  B25J9/02

Abstract: Disclosed is an intuitive robotic device control reference frame with hybrid inverse kinematics having a natural and easier human-robot interface. A system for controlling a robot can include a robotic device that performs tasks, an input device that receives user input indicating desired movement of the robotic device to perform the tasks, and a controller that controls the robotic device based on the user input. The controller can receive signals identifying the user input, determine a ground reference frame and an end-effector reference frame for controlling movement of the robotic device, generate, based on the ground reference frame and the end-effector reference frame, an intuitive reference frame for controlling movement of the robotic device, determine controls to move the robotic device in the intuitive reference frame, generate instructions for controlling movement of the robotic device, and execute the instructions to control movement of the robotic device.