A metallurgical technology probe insertion calibration method employing visual measurement and an insertion system thereof are provided. A vision sensor (5), a cylindrical rod (1), and a metallurgical technology probe (2) are used to construct an agreed region (6). In the agreed region (6), the vision sensor (5) acquires relative positions and orientations of the cylindrical rod (1) and the metallurgical technology probe (2), and an acquired position and orientation result is used to control a driving device (3) to insert the cylindrical rod (1) into the metallurgical technology probe (2). To improve the accuracy and reliability of the insertion, a standard probe (7) and a fixing device (4) are used together to perform effective calibration on an initial position, orientation, and axis in the insertion.

A jig according to the present disclosure includes N planes (N is an integer equal to or larger than 4) respectively attached with patterns, in which
−90°<θ<90°  (1)
0≠0  (2)
where θ is an angle formed by, with respect to a reference normal vector perpendicular to a jig reference plane, the jig reference plane being one plane among the N planes, and having a direction from the jig reference plane toward a space in which the stereo camera is disposed, a non-reference normal vector perpendicular to a non-reference plane different from the jig reference plane among the N planes and having a direction from the non-reference plane toward the space in which the stereo camera is disposed. Non-reference normal vectors corresponding to N−1 non-reference planes among the N planes have directions different from one another with respect to the reference normal vector and do not have directions symmetrical with respect to the reference normal vector.

The invention relates to a method for correcting errors in a manipulator system, wherein the manipulator system comprises at least one manipulator and is controlled by means of at least one manipulator program, wherein the method comprises the following method steps: ⋅providing at least one manipulator program, wherein the manipulator program comprises several operations; ⋅combining at least two of the operations to form at least one operation structure; ⋅defining at least one placement point (AP1, AP2), wherein the at least one placement point (AP1, AP2) forms the start andor the end of an operation structure (310); ⋅providing at least one reaction structure (320) and assigning the reaction structure (320) to an operation structure (310), wherein tlte at least one reaction structure (320) contains reaction operations (R1 to Rn), upon the execution of which, the manipulator program controls the manipulator system such that it is passed into a system state which corresponds to a placement point (AP1, AP2); ⋅executing the manipulator program and, if an error occurs, ⋅executing the reaction structure (320) such that the manipulator system is transferred into a system stare which corresponds to a placement point (AP1, AP2).

The present invention addresses the problem of providing a camera position/attitude calibration device with which the relative position/attitude of a camera and a robot can be calibrated without interrupting a task which is set in the robot. This camera position/attitude calibration device is characterized by operating a robot and comprising: a task operation planning unit that plans, on the basis of an image captured by a camera installed in a robot and the position/attitude of the robot, an operation for executing a task which has been set in the robot; a calibration operation planning unit that plans, on the basis of the image and the position/attitude of the robot, an operation necessary for calibrating the relative position/attitude of the camera and the robot; and an integration operation planning unit that plans an operation by integrating the task operation plan which has been planned by the task operation planning unit and the calibration operation plan which has been planned by the calibration operation planning unit.

A three-dimensional measuring device includes a ball-shaped structure, an X-axis measuring module, a Y-axis measuring module and a Z-axis measuring module. The ball-shaped structure is moved and/or rotated in response to a movement of a movable object. The X-axis measuring module includes a first measuring structure and a first position sensor. The first measuring structure is movable along an X-axis direction and contacted with the ball-shaped structure. The Y-axis measuring module includes a second measuring structure and a second position sensor. The second measuring structure is movable along a Y-axis direction and contacted with the ball-shaped structure. The Z-axis measuring module includes a third measuring structure and a third position sensor. The third measuring structure is movable along a Z-axis direction and contacted with the ball-shaped structure.

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).

A tool calibration apparatus includes a first measuring device, a second measuring device, a third measuring device, a fourth measuring device and a fifth measuring device. The first measuring device includes a first measuring surface, a first measuring edge and a sensor. The second measuring device includes a second measuring surface, a second measuring edge and a sensor. The third measuring device includes a third measuring edge and a sensor. The fourth measuring device includes a fourth measuring edge and a sensor. The fifth measuring device includes a third measuring surface and a sensor. The first measuring surface, the first measuring edge and the third measuring edge are movable in an X-axis direction. The second measuring surface, the second measuring edge and the fourth measuring edge are movable in a Y-axis direction. The third measuring surface is movable in a Z-axis direction.

A model generator implements a data-driven approach to generating a robot model that describes one or more physical properties of a robot. The model generator generates a set of basis functions that generically describes a range of physical properties of a wide range of systems. The model generator then generates a set of coefficients corresponding to the set of basis functions based on one or more commands issued to the robot, one or more corresponding end effector positions implemented by the robot, and a sparsity constraint. The model generator generates the robot model by combining the set of basis functions with the set of coefficients. In doing so, the model generator disables specific basis functions that do not describe physical properties associated with the robot. The robot model can subsequently be used within a robot controller to generate commands for controlling the robot.

A calibration device performs calibration based on detection results of an object from a sensor. The calibration device includes a determiner that determines, based on a size of a field of view of the sensor and a size of the object, a range in which a posture of a robotic arm with the object attached or with the sensor attached to detect the object is changed, an obtainer that repeatedly obtains a combination of information about the posture of the robotic arm and a detection result of the object from the sensor while the posture of the robotic arm is being changed within the range determined by the determiner to obtain a plurality of the combinations, and a calibrator that performs, based on the plurality of combinations obtained by the obtainer, calibration to determine correspondence between the postures of the robotic arm and the detection results of the object.

A shear pin for calibrating an industrial robot, the shear pin including an elongated body including a weakening defining a break location in case of overload. The shear pin is configured to be mounted to a calibration pin holder on the robot. A maximum force that the calibration pin can exert on the robot during calibration can be easily limited by dimensioning the weakening appropriately.