This robot system includes a sensor which obtains data for detecting at least a position of an object which is being moved, a robot at which a tool is attached, and which performs a predetermined operation for the object by means of the tool, and a controller which controls a tool moving device which moves the tool with respect to the robot, the tool, or an arm member which is located at a distal end side of an arm of the robot with a tool control cycle which is shorter than a control cycle of the robot.

TOOL TRACKING A system for determining the location of a toolpiece, wherein: the toolpiece is carried by a tool and the tool comprises an imaging device for capturing images of the environment around the tool; and the system comprises an image processor communicatively coupled to the imaging device for receiving images therefrom and having access to one or more reference images of an expected environment, the image processor being configured to compare an image captured by the imaging device with at least one reference image to identify a match therebetween and to determine in dependence on characteristics of that match the location of the toolpiece.

A method of tracking a pose of an object includes determining an initial pose of the object at a first position, receiving position data and velocity data corresponding to movement of the object to a second position by a moving device, determining an expected pose of the object at the second position based on the position and velocity data and the initial pose, receiving second image data corresponding to the object at the second position from a camera, and determining a refined pose of the object at the second position based on the second image data and the expected pose.

A vision system may include a first camera and a second camera mounted for stereoscopic monitoring of a work environment, a support platform for support of a workpiece in the work environment, a first reference plate operably coupled to the support platform to provide a first frame of reference for three dimensional location of objects in the work environment, a power tool operable in the work environment under control of a tool controller, and a motion monitor operably coupled to the first and second cameras to determine location of the tool in the work environment based on a comparison of a reference point on the tool to a position of reference points on the reference plate. A perspective view of the support platform by the first and second cameras may be changeable, and the system may further include a second reference plate to define a second frame of reference for three dimensional location of objects responsive to the perspective view of the support platform being changed.

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 system is configured to fabricate three-dimensional (3D) objects using closed-loop, computer vision-based control. The robot system initiates fabrication based on a set of fabrication paths along which material is to be deposited. During deposition of material, the robot system captures video data and processes that data to determine the specific locations where the material is deposited. Based on these locations, the robot system adjusts future deposition locations to compensate for deviations from the fabrication paths. Additionally, because the robot system includes a 6-axis robotic arm, the robot system can deposit material at any locations, along any pathway, or across any surface. Accordingly, the robot system is capable of fabricating a 3D object with multiple non-parallel, non-horizontal, and/or non-planar layers.

A robot system is configured to fabricate three-dimensional (3D) objects using closed-loop, computer vision-based control. The robot system initiates fabrication based on a set of fabrication paths along which material is to be deposited. During deposition of material, the robot system captures video data and processes that data to determine the specific locations where the material is deposited. Based on these locations, the robot system adjusts future deposition locations to compensate for deviations from the fabrication paths. Additionally, because the robot system includes a 6-axis robotic arm, the robot system can deposit material at any locations, along any pathway, or across any surface. Accordingly, the robot system is capable of fabricating a 3D object with multiple non-parallel, non-horizontal, and/or non-planar layers.

A vision system may include a first camera and a second camera mounted for stereoscopic monitoring of a work environment, a support platform for support of a workpiece in the work environment, a first reference plate operably coupled to the support platform to provide a first frame of reference for three dimensional location of objects in the work environment, a power tool operable in the work environment under control of a tool controller, and a motion monitor operably coupled to the first and second cameras to determine location of the tool in the work environment based on a comparison of a reference point on the tool to a position of reference points on the reference plate. A perspective view of the support platform by the first and second cameras may be changeable, and the system may further include a second reference plate to define a second frame of reference for three dimensional location of objects responsive to the perspective view of the support platform being changed.

A method to control operation of a robot includes generating at least one virtual image by an optical 3D measurement system and with respect to a 3D measurement coordinate system, the at least one virtual image capturing a surface region of a component. The method further includes converting a plurality of point coordinates of the virtual image into point coordinates with respect to a robot coordinate system by a transformation instruction and controlling a tool element of the robot using the point coordinates with respect to the robot coordinate system so as to implement the operation.

A robot system is configured to fabricate three-dimensional (3D) objects using closed-loop, computer vision-based control. The robot system initiates fabrication based on a set of fabrication paths along which material is to be deposited. During deposition of material, the robot system captures video data and processes that data to determine the specific locations where the material is deposited. Based on these locations, the robot system adjusts future deposition locations to compensate for deviations from the fabrication paths. Additionally, because the robot system includes a 6-axis robotic arm, the robot system can deposit material at any locations, along any pathway, or across any surface. Accordingly, the robot system is capable of fabricating a 3D object with multiple non-parallel, non-horizontal, and/or non-planar layers.