An end tool metrology position coordinates determination system is provided for use with a robot. A first accuracy level defined as a robot accuracy (e.g., for controlling and sensing an end tool position of an end tool that is mounted proximate to a distal end of a movable arm configuration of the robot) is based on using position sensors (e.g., encoders) included in the robot. The system includes the end tool, an imaging configuration, XY scale, image triggering portion and processing portion. One of the XY scale or imaging configuration is coupled to the end tool and the other is coupled to a stationary element (e.g., a frame located above the robot). The imaging configuration acquires an image of the XY scale, which is utilized to determine a relative position that is indicative of the end tool position, with an accuracy level that is better than the robot accuracy.

Disclosed are a robot system for assembling components and a control method thereof. The control method compares location coordinates of a robot in a vision coordinate system with location coordinates in a robot coordinate system and calculates a first correction value, calculates a second correction value from a difference between location coordinates of a correction tool and a component, and calculates a third correction value from location coordinates of components located at predetermined spaced locations and spacing coordinates, thereby precisely assembling components and performing inspection of the assembling.

A computer-implemented method of determining a collision between an object and a robot, comprises monitoring one or more articular parts of the robot by measuring the parameters associated with the real displacements of the one or more articular parts; comparing the measured parameters with the expected parameters associated with the corresponding commanded displacements; and determining the probability of a collision with an object. Described developments comprise the exclusion of system failures, the identification of the collided object by computer vision or by communicating with the object, the execution of one or more actions such as a safety mode, the identification of systematic discrepancies in performed comparisons, the grouping of articular parts belonging to a same articular chain, and the mutual surveillance of robots. The use of capacitive sensors, bumper sensors and magnetic rotary encoders is disclosed.

An automatic calibration method for a robot system is disclosed. The automatic calibration method for a robot system includes the steps of calibrating a sensor and a sensor coordinate system of the sensor with respect to a world coordinate system, controlling a robot under the guidance of the sensor to move a point of a tool mounted on the robot to reach a same target point with a plurality of different poses, the point of the tool in a tool coordinate system, and calculating a transformation matrix .sup.tcpT.sub.t of the tool coordinate system with respect to a tool center point coordinate system based on pose data of the robot at the same target point.

A robot-guided system to assist orthopedic surgeons in performing orthopedic surgical procedures on pre-positioned inserts, including for the fixation of bone fractures, and especially for use in long bone distal intramedullary locking procedures. The system provides a mechanical guide for drilling the holes for distal screws in intramedullary nailing surgery. The drill guide is automatically positioned by the robot relative to the distal locking nail holes, using data derived from only a small number of X-ray fluoroscopic images. The system allows the performance of the locking procedure without trial and error, thus enabling the procedure to be successfully performed by less experienced surgeons, reduces exposure of patient and operating room personnel to radiation, shortens the intra-operative time, and thus reduces post-operative complications.

A robot calibration system includes a calibration fixture configured to be mounted on a substrate processing chamber. The calibration fixture includes at least one camera arranged to capture an image including an outer edge of a test substrate and an edge ring surrounding the test substrate. A controller is configured to receive the captured image, analyze the captured image to measure a distance between the outer edge of the test substrate and the edge ring, calculate a center of the test substrate based on the measured distance, and calibrate a robot configured to transfer substrate to and from the substrate processing chamber based on the calculated center of the test substrate.

A computer-implemented method of determining a collision between an object and a robot, comprises monitoring one or more articular parts of the robot by measuring the parameters associated with the real displacements of the one or more articular parts; comparing the measured parameters with the expected parameters associated with the corresponding commanded displacements; and determining the probability of a collision with an object. Described developments comprise the exclusion of system failures, the identification of the collided object by computer vision or by communicating with the object, the execution of one or more actions such as a safety mode, the identification of systematic discrepancies in performed comparisons, the grouping of articular parts belonging to a same articular chain, and the mutual surveillance of robots. The use of capacitive sensors, bumper sensors and magnetic rotary encoders is disclosed.

Systems, devices, and methods for time calibration. The method can include, in responses to receiving sensing data which indicates a deviation of a tool from an object to be operated by a robot with the tool, triggering the robot to perform a plurality of transformations. Each transformation causing the tool to contact the object at a reference position; determining joint positions of a joint of the robot holding the tool or the object after the plurality of transformations; and determining a position relationship between the tool and the robot at least partially based on the joint positions and the reference position.