US 11,701,776 B2
Robotic kitting machine
Samir Menon, Palo Alto, CA (US); Ivan Alberto Trujillo Priego, San Francisco, CA (US); Talbot Morris-Downing, Menlo Park, CA (US); Zhouwen Sun, Redwood City, CA (US); Kevin Jose Chavez, Redwood City, CA (US); Alberto Leyva Arvayo, Palo Alto, CA (US); Cyril Nader, East Palo Alto, CA (US); and Farshid Farhat, Santa Clara, CA (US)
Assigned to Dexterity, Inc., Redwood City, CA (US)
Filed by Dexterity, Inc., Redwood City, CA (US)
Filed on Oct. 12, 2020, as Appl. No. 17/68,572.
Claims priority of provisional application 62/926,168, filed on Oct. 25, 2019.
Prior Publication US 2021/0122043 A1, Apr. 29, 2021
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/1633 (2013.01); B25J 9/1679 (2013.01); B25J 9/1687 (2013.01); B25J 9/1694 (2013.01); B25J 13/085 (2013.01); G05B 2219/39322 (2013.01); G05B 2219/39529 (2013.01); G05B 2219/40032 (2013.01); G05B 2219/45063 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robotic kitting system, comprising:
a communication interface; and
a processor coupled to the communication interface and configured to:
control a robotic arm having an end effector comprising at least a first suction cup to move an item having at least a first pedestal portion to a location associated with a slot into which the first pedestal portion of the item is to be inserted;
receive via the communication interface a force information generated by a force sensor;
use the force sensor information to align the at least first pedestal portion with a corresponding cavity comprising the slot;
determine based at least in part on the force sensor information that a destination receptacle with which the location and the slot are associated is at a detected orientation that is different than an expected orientation, wherein the detected orientation is approximately 180 degrees different than the expected orientation; and
control the robotic arm to insert the item into the slot, wherein the processor is configured to cause the end effector of the robotic arm to insert the item in the slot at least in part by withdrawing the item, rotating the item 180 degrees, and moving the item to a remapped location associated with the slot.