MUMBAI, India, July 30 -- Intellectual Property India has published a patent application (202641088495 A) filed by Karunya Institute Of Technology And Sciences on July 20, 2026, for Modular Control Architecture For Motoros2-Enabled Industrial Robots Featuring Dynamic Sensor Abstraction And Vision-Guided Autonomous Manipulation.
Inventors include Dr. Anantha Christu Raj; Mr. Aashish Carmel Jai; Ms. Suji Sharon J; Dr. P Subha Hency Jose; Mr. Sanjay Sebastian; Mr. Hammad Pervez; Mr. John Zac Mathew; and Mr. Joseph Chinnadurai G.
The application for the patent was published on July 24, 2026, under issue no. 30/2026.
Abstract: ABSTRACT Modular Control Architecture for MotoROS2-Enabled Industrial Robots Featuring Dynamic Sensor Abstraction and Vision-Guided Autonomous Manipulation A web-based modular framework, designated Tapeinos, for unified browser-based control of a Yaskawa Motoman GP8 industrial robot via MotoROS2 middleware and MoveIt2 motion planning. The framework provides complete robot lifecycle management — Micro-ROS Agent startup, servo activation, motion planning, jogging, and gripper control — from a single browser session without terminal interaction, replacing proprietary systems such as MotoSim. A 10-point homography calibration pipeline enables vision-guided autonomous pick-and-place using any low-cost 2D USB camera, achieving 100% pick success in controlled trials without depth sensors. A plug-and-play sensor registration module dynamically instantiates ultrasonic sensors as ROS2 nodes; an independent safety watchdog node triggers emergency halts when proximity thresholds are breached, with per-sensor threshold adjustment from the web UI. Communication with the YRC1000 controller is conducted over LAN using XRCE-DDS over UDP at ~1–5V, reducing electrical shock risk versus Digital I/O at ~24V DC. The software deploys on Windows and Linux via containerization with no platform-specific configuration. The framework has been validated on both the GP8 industrial robot and the HC10 collaborative robot and incorporates optional extensions including dual-path object detection, a nine-step deterministic pick-and-place state machine, JogEngine execution locking with ultrasonic stop guard, Charuco two-stage camera calibration, and a proof-of-concept large-language-model natural-language parameter extraction layer.
Disclaimer: Curated by HT Syndication.
