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This is a factory that makes small toysAll toys fit within a 10cm radius sphere3D models of the toys are availableThe order of toys picked is not importantThe reach of 1m refers to the radius of the workspace of interest and not to length of the outstretched armWe have control over the conveyor in this systemUpstream systems can respond to starting and stopping of conveyor beltRobot will operate in 1m radiusConveyor will enter this radius in a straight lineHuman coworker will enter a 2m radius for handoverWe have conducted experiments at various heights and resolutions to produce a table that maps height from conveyor to required resolution for detection models to workWe may have substituted similar sized objects in the COCO dataset and a pretrained model to conduct the tests with minimal dev effort-110 to 110 degree pitch-90 to 90 degree yaw360 degree rollAssume a zero pitch is facing the gripper horizontally radial to the baseUse robot model to calculate maximum torques applied to actuator for candidate manipulator designsThis does not need to be direct torque or force sensing, but an accurate enough estimation such that we can grip without crushing or dropping
System Requirements
Assumptions:
Product Requirements
Name
Technical Requirements
Name
Technical Requirements
Identification of known set of toys
FOV covers 4m x 4m at conveyor height
Resolution of Y for height Xm
Pose estimation of known set of toys
FOV covers 4m x 4m at conveyor height
Resolution of Y for height Xm
Able to grasp known set of toys from 1m away
When the gripper is at 1m and between 0 and 1m above the conveyor:
-110 to 110 degree pitch
-90 to 90 degree yaw
360 degree roll
Pose prediction based on pose estimation and conveyor speed
Able to lift a payload of 1kg in entire workspace
Within torque limits when grasping a 1kg payload at full perpendicular reach both static and at maximum acceleration
Able to identify human coworkers
FOV covers 4m x 4m at conveyor height
Able to hold the grasped toy in a pose from which is ergonomic for the human coworker to take it
Within torque limits when grasping a 1kg payload at full perpendicular reach both static and at maximum acceleration
Human coworker is able to remove the toy from the gripper without exerting much effort
Compliant control of manipulator
HW E-stop accessible at robot location
Normally On HW E-stop between robot and coworker
HW E-stop accessible at floor supervisor location
Normally On HW E-stop with 50m reach
Avoids damaging impact to humans sharing the workspace
Compliant control of manipulator
Avoids pinch to humans sharing the workspace
Compliant control of manipulator
Pinch detection
Throughput of 10 toys a minute
6 second detect-pick-handover
Speaker to alert coworker of handover
Does not crush toys
Gripper torque/force sensing
Semi-soft gripper fingers
Avoids dropping toys
Gripper torque/force sensing
Semi-soft gripper fingers
Can identify recoverable errors and recover
FOV covers 4m x 4m at conveyor height
Can identify unrecoverable errors and alert
FOV covers 4m x 4m at conveyor height
User interface allows for configuration, understanding, start, stop and scheduling of operation mode
There are no rows in this table
Technical Requirements
Row ID
Name
Product Requirement
Assumptions/Assessments
Row ID
Name
Product Requirement
Assumptions/Assessments
1
FOV covers 4m x 4m at conveyor height
Identification of known set of toys
Pose estimation of known set of toys
Able to identify human coworkers
Can identify recoverable errors and recover
Can identify unrecoverable errors and alert
2
Resolution of Y for height Xm
Identification of known set of toys
Pose estimation of known set of toys
3
When the gripper is at 1m and between 0 and 1m above the conveyor:
Able to grasp known set of toys from 1m away
4
Within torque limits when grasping a 1kg payload at full perpendicular reach both static and at maximum acceleration
Able to lift a payload of 1kg in entire workspace
Able to hold the grasped toy in a pose from which is ergonomic for the human coworker to take it
5
Compliant control of manipulator
Human coworker is able to remove the toy from the gripper without exerting much effort
Avoids damaging impact to humans sharing the workspace
Avoids pinch to humans sharing the workspace
7
Normally On HW E-stop between robot and coworker
HW E-stop accessible at robot location
8
Normally On HW E-stop with 50m reach
HW E-stop accessible at floor supervisor location
9
Pinch detection
Avoids pinch to humans sharing the workspace
10
6 second detect-pick-handover
Throughput of 10 toys a minute
11
Speaker to alert coworker of handover
Throughput of 10 toys a minute
12
Gripper torque/force sensing
Does not crush toys
Avoids dropping toys
13
Semi-soft gripper fingers
Does not crush toys
Avoids dropping toys
14
Pose prediction based on pose estimation and conveyor speed
Able to grasp known set of toys from 1m away
There are no rows in this table
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