A control device for moving a robot and causing the robot to perform a work onto a work target portion includes a reference position acquisition section that acquires a position of the work target portion as a reference position, based on detection data of a sensor that detects the work target portion, a movement direction acquisition section that acquires a movement direction of the robot, a direction determination section that determines a shift direction in which a working position of the robot onto the work target portion is to be shifted from the reference position, based on the movement direction acquired by the movement direction acquisition section, and a robot control section that positions the robot at a target position shifted from the reference position toward the shift direction by a predetermined shift amount, when carrying out the work onto the work target portion.

Devices, systems, and methods for time calibration. The method comprises determining a first reference position of a robot in a robot coordinate system based on first feedback information received from the robot; determining an association between the first reference position and first sensing information receive from a sensor; receiving, from the robot, second feedback information associated with a second motion of the robot and, from the sensor, second sensing information associated with the second motion; and determining a time delay between a sensing time point when a sensing position of the robot in the second motion is sensed by the sensor and a recording time point when the sensing position is recorded by the robot in the second motion.

The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An example computer-implemented method for evaluating calibrations of a surgical tool includes fixating a joint of the surgical tool at a first angle, the joint being driven by an actuator, measuring an actuator position corresponding to the first angle, accessing a calibrated offset corresponding to the first angle, determining an expected joint angle based on the measured actuator position and the calibrated offset, and reporting a first difference between the expected joint angle and the first angle.

A robot including an arm, a tool attached to the arm, a measurement fixture to be attached to a tip portion of the tool detachably, and a controller that recognizes a reference coordinate system used to control the arm, and that controls the arm. The controller stores data indicating a positional relationship between a tip of the tool and the measurement fixture or data to be used to calculate the positional relationship, and the controller calculates positional coordinates of the tip of the tool in the reference coordinate system based on position data of the measurement fixture and the positional relationship, where the position data is detected by using acquired image data from a visual sensor whose position is associated with the reference coordinate system.

Embodiments of the present disclosure provide methods for managing a robot system. In one method, orientations for links in the robot system may be obtained when the links are arranged in at least one posture, here each of the orientations indicates a direction pointed by one of the links. At least one image of an object placed in the robot system may be obtained from a vision device equipped on one of the links. Based on the orientations and the at least one image, a first mapping may be determined between a vision coordinate system of the vision device and a link coordination system of the link. Further, embodiments of present disclosure provide apparatuses, systems, and computer readable media for managing a robot system. The vision device may be calibrated by the first mapping and may be used to manage operations of the robot system.

A system and method for improving a position accuracy of a mobile robot is disclosed. A retroreflective device is mounted to the mobile robot and used by an absolute positioning device to use a laser beam to track a position of the mobile robot. The mobile robot receives position measurements. Various optimizations may be performed to support operating the mobile robot over a 360 degree range of azimuthal headings.

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.

A calibration device for a robot including a linear motion shaft moves a slider along one straight line with respect to a base, and an end shaft supported so as to be rotatable about a rotation axis with respect to the slider includes: a first calibration fixture fixed to the end shaft; and a second calibration fixture fixed to the base. The first calibration fixture includes a first calibration surface formed of a plane containing the rotation axis or a flat surface parallel to the plane, and a second calibration surface that does not change even when the first calibration fixture alone rotates about the rotation axis. The second calibration fixture detects a position of the first calibration surface when the first calibration fixture is rotated about the rotation axis and a position of the second calibration surface when the first calibration fixture is moved along the straight line.

A system includes a moveable element adapted to move relative to a coordinate system defined for a robot, an object detection transceiver unit adapted to be mounted on the moveable element, and a controller. The controller controls the object detection transceiver unit to emit a signal and obtain a return signal for an operational cell of the robot at each of a series of predetermined positions to emulate a transceiver aperture larger than an aperture of the object detection transceiver unit. A location corresponding to a marker present in the operational cell is determined from the return signals. A predetermined operation is carried out where the predetermined operation includes using the determined location to guide movement of the robot.

A device for measuring repeated positioning precision of a robotic arm is introduced. Using an optical speckle three-dimensional displacement sensor developed by the inventor, and with collaboration of an optical speckle image three-dimensional positioning base built with an optical speckle coordinate database and having low thermal expansion, an optical speckle three-dimensional absolute positioning space is established. The optical speckle three-dimensional displacement sensor is installed on an end effector of a robotic arm, the robotic arm is moved to have the optical speckle three-dimensional displacement sensor enter an optical speckle three-dimensional absolute positioning space, an optical speckle image of a positioning point is captured and compared with a coordinate optical speckle image in the optical speckle coordinate database, and current three-dimensional absolute positioning coordinates of the end effector of the robotic arm can be obtained.