Patent ID: 11958191
Assignee: MUJIN, INC.
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 15:
16. A system configured to control operation of a transport robot, the system comprising:
a communication circuit configured to communicate data, commands, and/or settings with a set of sensors and the transport robot, wherein the communication circuit is configured to:
receive image data depicting packages, including a target package and a second package, at a start location, and
send a motion plan or a set of corresponding commands and/or settings for operating the transport robot to simultaneously grasp and transfer the target package and the second package;

at least one processor coupled to the communication circuit and configured to:
identify a set of grip poses for grasping the target package, wherein the set of grip poses represent one or more poses of a multi-gripper assembly of the transport robot that overlap the second package;
derive a combined movement control parameter for each represented pose in the set of grip poses, wherein the combined movement control parameter represents a setting for the transport robot for simultaneously manipulating the target package and the second package;
determine a release sequence for placing the target package and the second package at respective target locations;
select a simultaneous grasp pose from the set of grip poses based on the combined movement control parameter and the release sequence; and
derive the motion plan based on the simultaneous grasp pose.