Robert E Kelley

US Patent:

42669057, May 12, 1981

Filed:

Apr 20, 1979

Appl. No.:

6/032239

Inventors:

John R. Birk - Peace Dale RI
Robert B. Kelley - Kingston RI
Richard P. Tella - Ashaway RI

Assignee:

Board of Regents for Education of the State of Rhode Island - Providence RI

International Classification:

B65G 4700

US Classification:

414627

Abstract:

Apparatus for acquiring individual workpieces from a supply of randomly oriented workpieces in a storage bin or the like. The apparatus includes a movably mounted head assembly having a gripper connected thereto by an intermediate flexible support. A sensor generates a control signal responsive to a contact force exerted by the gripper on a workpiece. The gripper operates to grip the workpiece contacted thereby. The flexible support is then retracted to lock the gripper against an abutment surface fixed relative to the head assembly. Operation of the gripper and/or movement of the head assembly may be controlled in response to said control signal.

US Patent:

44020538, Aug 30, 1983

Filed:

Sep 25, 1980

Appl. No.:

6/190785

Inventors:

Robert B. Kelley - Kingston RI
John R. Birk - Peace Dale RI

Assignee:

Board of Regents for Education for the State of Rhode Island - Providence RI

International Classification:

G06F 1546

US Classification:

364513

Abstract:

A robot assembly for acquiring unorientated workpieces from a bin. A sensing system views the bin and collects data. A computer analyzes the data to determine candidate holdsites on the workpiece. The hand of the robot assembly then engages a workpiece at a selected holdsite. The workpiece is moved to a pose where the position and orientation of the workpiece are determined. After this determination, the workpiece may be disengaged, or moved to an intermediate or final goalsite. The method is applicable to workpieces that have six continuous unknown degrees of freedom. Furthermore, partial occlusion of the workpiece by the robot hand is allowed.

US Patent:

43051308, Dec 8, 1981

Filed:

May 29, 1979

Appl. No.:

6/043197

Inventors:

Robert B. Kelley - Kingston RI
John R. Birk - Peace Dale RI
Dana L. Duncan - Wakefield RI
Richard P. Tella - Ashaway RI
Laurie J. Wilson - Ashaway RI

Assignee:

University of Rhode Island - RI

International Classification:

G06F 1546

US Classification:

364513

Abstract:

A robot assembly for acquiring unorientated workpieces from a bin. A sensing system views the bin and collects data. A computer analyzes the data to determine candidate holdsites on the workpiece. The hand of the robot assembly then engages a workpiece at a selected holdsite. The workpiece is moved to a pose where the position and orientation of the workpiece are determined. After this determination, the workpiece may be disengaged, or moved to an intermediate or final goal site.

US Patent:

41469240, Mar 27, 1979

Filed:

Sep 22, 1975

Appl. No.:

5/615716

Inventors:

John R. Birk - Peacedale RI
Robert B. Kelley - Kingston RI
David A. Seres - Newark DE

Assignee:

Board of Regents for Education of the State of Rhode Island - Providence RI

International Classification:

G05B 1942
G06F 1546

US Classification:

364513

Abstract:

Visual system for determining position in space and/or orientation in three-dimensional space for purposes, for example, of directing or instructing an industrial robot to perform manipulative acts and apparatus employing the visual system. The system includes a portable object arbitrarily movable in three-dimensional space and possessing the discernible properties of position in space and/or orientation in space. One or more sensors extract visual information or image data from the portable object and convert the same to an electric signal or signals. A computer is connected to receive the signal or signals which are analyzed and, in the case of the industrial robot, the information obtained is used to prepare operating instructions.

US Patent:

44122934, Oct 25, 1983

Filed:

Mar 30, 1981

Appl. No.:

6/248784

Inventors:

Robert B. Kelley - Kingston RI
John R. Birk - Peace Dale RI
Henrique Martins - Kingston RI
Richard P. Tella - Ashaway RI

International Classification:

G06F 1546

US Classification:

364513

Abstract:

An experimental robot system using vision and a parallel jaw gripper acquires randomly oriented cylindrical workpieces piled in bins. Binary image analysis guides the gripper into multilayered piles of workpieces. Complementary information is provided by sensors on the gripper.