A sensor assignment device includes a movement instruction generator for generating and submitting a movement instruction to a distinct one of a plurality of actuators to move a distinct one of a plurality of machine parts, a sensor data receiver for receiving sensor data acquired by a subset of a plurality of sensors, a degree of correlation determiner for determining sensor-specific degrees of correlation between the detected sensor data and the movement instruction, and a sensor assigner for assigning those sensors to the distinct machine part whose sensor-specific degrees of correlation exceed a predetermined threshold or a multiple-step fashion as refinement in case of insufficiently reliable map of affiliations between sensors and machine parts. The received sensor data is used to influence the movement instruction.

An object is to, in a case where it is necessary to share a common coordinate system by a plurality of position measurers, reduce an error in the coordinate system between the position measurers. A position measurement system allows a plurality of laser trackers to share position measurement of a plurality of measurement points. The laser tracker measures three coordinate definition targets for defining a coordinate system of the measurement points, defines a work coordinate system from measurement results of the three coordinate definition targets, and measure the measurement points allocated to the laser tracker using the defined work coordinate system. The other laser trackers and measure the measurement points allocated to the other laser trackers and using correction vectors based on a positional relationship between the laser tracker and the laser trackers and obtained in advance, and the work coordinate system defined by the one laser tracker.

In one aspect, a method is described. The method may include providing an end effector tool of a robotic device configured to perform a task on a work surface within a worksite coordinate frame. The method may further include providing first location data indicating a first location of the end effector tool with respect to the work surface, providing second location data indicating a second location of the end effector tool within the worksite coordinate frame, and providing third location data indicating a third location of the end effector tool within the worksite coordinate frame. The method may further include tracking the location of the end effector tool based on the first, second, and third location data, and, based on the tracked location of the tool, instructing the robotic device to manipulate the end effector tool to perform a task on the work surface.