A robot is provided. The robot includes a plurality of sensors, a memory, a driving unit, and a processor configured to, based on identifying that a predetermined event occurs, control the driving unit to move the robot to a predetermined point, based on identifying that the robot has moved to the point, obtain a plurality of images through the sensors, identify whether to perform calibration for at least one sensor based on the obtained images, based on identifying to perform the calibration for the sensor, obtain calibration data for calibrating sensing data corresponding to the sensor based on the obtained images and store the obtained calibration data in the memory, based on the sensing data being obtained from the sensor, calibrate the obtained sensing data based on the calibration data stored in the memory, and control the driving unit based on the calibrated sensing data.

In a calibration system including a robot arm including, at a tip, a holding portion configured to hold an object to be held, an image capturing apparatus, and a calibration apparatus, the calibration apparatus according to an aspect of the present invention generates first coordinate information based on a learning model generated by performing machine learning on plural pieces of supervised data and a captured image obtained by image capturing the holding portion from a predetermined direction, the supervised data including a captured image of a virtual space containing a three-dimensional model related to the holding portion and information indicating a position of the holding portion contained in the virtual space, the first coordinate information indicating a position of the holding portion in a captured image coordinate system with respect to the captured image. The calibration apparatus coordinate-converts the first coordinate information into second coordinate information by using coordinate conversion information used for coordinate conversion processing of coordinate-converting the first coordinate information into the second coordinate information, the second coordinate information indicating the position of the holding portion in a robot coordinate system with respect to the robot arm.

Methods of generating a camera model are provided. A robotic assembly is used to move a calibration assembly relative to a camera assembly through a series of poses. The calibration assembly comprises a calibration target and markers. The camera assembly comprises a mount, a camera having a field of view, and markers. The predetermined series of poses, together, cause the calibration target to pass through the field of view of the camera. The camera is used to generate a respective image of the calibration target. A tracker is used, to determine respective locations in space of the markers. A transformation function is generated that maps onto a three-dimensional space the stored coordinates and determined locations in space of the markers and features of the calibration target. The transformation functions are used to generate a model of parameters of the camera. Systems are also provided.

A method includes moving a locating feature associated with a robotic arm of the robotic system along a selected defined path to a detected position, where the detected position is a position of the locating feature when a force feedback condition is satisfied. The method includes calculating a positional offset of the robotic arm based on a nominal position and the detected position of the robotic arm. The method includes performing, by the robotic system, one or more operations at the manufacturing station using the positional offset.

A system includes a first fixture to support one side of a part and a robot that has a second fixture to support an opposite side of the part with respect to the one side. One of the part sides has a target on a surface that indicates a location for the operation. The system has a sensor to measure the target in 3-dimensional space. A tool performs the operation at the location, and a controller moves the robot to pick up the part from the first fixture using the second fixture. The controller presents the target to the sensor for measuring the x,y,z coordinates and the yaw, pitch and roll of the target. The controller moves the second fixture with the part to the tool based upon the measurement.

Systems and methods for systems and methods for real time calibration of multiple range sensors on a robot are disclosed herein. According to at least one non-limiting exemplary embodiment, methods for self-calibration are used to independently correct rotational errors in a pose of a sensor. In some instances, the self-calibration may further yield errors along at least one translational axis. According to at least one non-limiting exemplary embodiment, methods for cross-calibration are used to correct translational errors and to ensure all sensors on a robot agree on perceived locations of objects.

A cross laser calibration device used to calibrate a tool center point is provided. The calibration device includes a coordinate orifice plate, a set of cross laser sensors and a rotational and translational movement mechanism. The coordinate orifice plate has an orifice center point. The set of cross laser sensors is arranged on the coordinate orifice plate to generate cross laser lines intersecting at the orifice center point. The set of cross laser sensors is driven by the second motor to rotate around the center point of the second motor, wherein the orifice center point has an off-axis setting relative to the center point of the second motor.

A method for characterising the environment of a robot, the robot having a flexible arm having a plurality of joints, a datum carried by the arm, a plurality of drivers arranged to drive the joints to move and a plurality of position sensors for sensing the position of each of the joints, the method comprising: contacting the datum carried by the arm with a first datum on a second robot in the environment of the first robot, wherein the second robot has a flexible arm having a plurality of joints, and a plurality of drivers arranged to drive those joints to move; calculating in dependence on the outputs of the position sensors a distance between a reference location defined in a frame of reference local to the robot and the first datum; and controlling the drivers to reconfigure the first arm in dependence on at least the calculated distance.

Disclosed herein is a method. The method includes moving a payload through a motion path proximate at least one sensor. Detecting edges of the payload such that at least three points on at least two edges are detected. Capturing a position when the at least one sensor detects at least one edge of the payload.

A calibration method for a laser processing robot, including: fixing a jig that includes a target-site to a base of the laser processing robot; placing a laser processing tool at a position where a laser beam is scanned with respect to the target-site, the laser processing tool having a function for two-dimensionally scanning the laser beam and a function for receiving the laser beam reflected at an object and for measuring a distance to the object; measuring distances to respective portions of the target-site by scanning the laser beam; calculating a coordinate transformation function for converting a position and orientation of the target-site, which is obtained based on the measured distances to the respective portions of the target-site, into an actual position and orientation of the target-site; and correcting a tool-center-point of the laser processing tool by the coordinate transformation function.