Error Accrual and Mitigation During Robotic Process

Abstract

A robotic system includes end-effector(s) that combine a plurality of objects in a production process. The system includes sensor(s) that obtain measurement(s) relating to a combination of a first object and one or more other objects during the production process. The system includes a control system communicatively coupled to the sensor(s). The control system stores specifications relating to the combination of the plurality of objects. The control system receives the measurement(s) from the sensor(s), determines a difference based on the measurement(s) and the specifications, determines adjustment(s) to the production process based on the determined difference, and sends, for the end-effector(s), instruction(s) based on the specifications and the one or more adjustment(s). The end-effector(s) combine a second object with the first object and the one or more objects based on the specifications and the one or more adjustment(s).

What is claimed is: 
     
         1 . A robotic system, comprising:
 a body including one or more end-effectors configured to combine a plurality of objects in a production process;   one or more sensors configured to obtain one or more measurements relating to the combination of the plurality of objects during the production process; and   a control system including one or more processors and one or more data storage devices, the control system communicatively coupled to the one or more sensors, the one or more data storage devices storing specifications relating to the combination of the plurality of objects, the control system configured to:
 receive, from the one or more sensors, one or more first measurements relating to a combination of a first object and one or more other objects during the production process; 
 determine a difference based on the one or more first measurements and the specifications; 
 determine one or more adjustments to the production process based on the determined difference; and 
 send, for the one or more end-effectors, one or more instructions based on the specifications and the one or more adjustments to the production process, 
   wherein the one or more end-effectors, in response to the one or more instructions, combines a second object with the first object and the one or more other objects based on the specifications and the one or more adjustments to the production process.   
     
     
         2 . The robotic system of  claim 1 , wherein the specifications include constraints relating to the combination of the plurality of objects, and the control system is configured to determine the one or more adjustments to the production process based on the constraints. 
     
     
         3 . The robotic system of  claim 2 , wherein the specifications include respective weightings for the constraints, and the control system is configured to determine the one or more adjustments to the production process by selecting, based on the weightings, the one or more adjustments to the production process from a plurality of options. 
     
     
         4 . The robotic system of  claim 1 , wherein the one or more end-effectors combines the objects by installing at least some of the objects into or onto one or more external structures. 
     
     
         5 . The robotic system of  claim 1 , wherein the one or more first measurements include one or more measurements of a position or an orientation of the first object relative to the one or more other objects. 
     
     
         6 . The robotic system of  claim 5 , wherein the one or more adjustments to the production process relate to a position or an orientation of the second object relative to the first object and the one or more other objects. 
     
     
         7 . The robotic system of  claim 1 , wherein the control system determines the one or more adjustments to the production process by simulating the combination of the plurality of objects based on the one or more measurements. 
     
     
         8 . The robotic system of  claim 1 , wherein, in response to the determined difference, the control system is further configured to send instructions to cease further action by the one or more end-effectors, and the one or more end-effectors, in response to the one or more instructions to cease further action, does not combine the second object with the first object and the one or more other objects. 
     
     
         9 . The robotic system of  claim 1 , wherein the control system is further configured to send a report relating to the combination of the first object, the second object, and the one or more other structures based on the specifications and the one or more adjustments to the production process. 
     
     
         10 . The robotic system of  claim 1 , wherein the one or more sensors are further configured to obtain one or more second measurements relating to the combination of the first object, the second object, and the one or more other structures,
 the one or more end-effectors is further configured to combine a third object with the first object, the second object, and the one or more other structures, and   the control system is further configured to:
 receive, from the one or more sensors, the one or more second measurements; 
 determine a second difference based on the one or more second measurements and the specifications; 
 determine one or more second adjustments to the production process based on the determined second difference; and 
 send, for the one or more end-effectors, one or more second instructions based on the specifications and the one or more second adjustments to the production process, 
   wherein the one or more end-effectors, in response to the one or more second instructions, combines the third object with the first object, the second object, and the one or more other objects based on the specifications and the one or more second adjustments to the production process.   
     
     
         11 . A method for a robotic system, comprising:
 combining, with one or more end-effectors, a first object and one or more other objects during a production process;   obtaining, with one or more sensors, one or more measurements relating to combining the the first object and the one or more other objects during the production process;   storing, on one or more data storage devices, specifications for a combination of a plurality of objects;   determining, with a control system including one or more processors, a difference based on the one or more measurements and the specifications;   determining, with the control system, one or more adjustments to the production process based on the determined difference; and   combining, with the one or more end-effectors, a second object with the first object and the one or more other objects based on the specifications and the one or more adjustments to the production process.   
     
     
         12 . The method of  claim 11 , wherein the specifications include constraints relating to the combination of the plurality of objects, and the one or more adjustments to the production process are determined based on the constraints. 
     
     
         13 . The method of  claim 11 , wherein the one or more measurements include one or more measurements of a position or an orientation of the first object relative to the one or more other objects. 
     
     
         14 . The method of  claim 13 , wherein the one or more adjustments to the production process relate to a position or an orientation of the second object relative to the first object and the one or more other objects. 
     
     
         15 . The method of  claim 11 , wherein determining the one or more adjustments to the production process includes simulating the combination of the plurality of objects based on the one or more measurements. 
     
     
         16 . The method of  claim 11 , further comprising sending a report relating to the combining the second object with the first object and the one or more other objects based on the specifications and the one or more adjustments to the production process. 
     
     
         17 . The method of  claim 11 , further comprising:
 obtaining one or more second measurements relating to the combination of the first object, the second object, and the one or or more other objects,   determining, with the control system, a second difference based on the second measurements and the specifications;   determining, with the control system, one or more second adjustments to the production process based on the determined second difference; and   combining, with the one or more end-effectors, a third object with the first object, the second object, and the one or more other objects based on the specifications and the one or more second adjustments to the production process.   
     
     
         18 . A method for a robotic system, comprising:
 storing, on one or more data storage devices, a model for combining a plurality of objects;   combining a first set of the objects during a production process;   obtaining, with one or more sensors, one or more measurements relating to the combination of the first set of the objects during the production process;   determining, with a control system including one or more processors, one or more differences based on the model and the one or more measurements;   determining, with the control system, one or more adjustments to the production process based on the one or more differences; and   combining, with one or more end effectors, a second set of the objects with the first set of objects based on the model and the one or more adjustments to the production process.   
     
     
         19 . The method of  claim 18 , wherein the model includes constraints relating to the combination of the plurality of objects, and the one or more adjustments to the production process are determined based on the constraints. 
     
     
         20 . The method of  claim 18 , wherein determining the one or more adjustments includes simulating the combination of the plurality of objects based on the one or more measurements.