Robotic control systems and methods 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. Unintended movement over time of the end effector tool with respect to the work surface and with respect to the worksite coordinate frame may be determined based on image data indicative of the work surface, first location data indicative of a first location of the end effector tool with respect to the worksite coordinate frame, and second location data indicative of a second location of the end effector tool with respect to the work surface. One or more control signals for the robotic device may be adjusted in order to counteract the unintended movements of the end effector tool with respect to the work surface and worksite coordinate frame.

An automatic calibration method of a robot system comprises providing a ball-rod member including a connection rod and a sphere connected to the connection rod, fixing the connection rod to an end execution tool mounted on a flange of a robot, providing distance sensors around a target point, and sensing an actual distance from each of the distance sensors to the sphere. The robot is controlled to move a center of the sphere to the target point in different poses based on the actual distances sensed by the distance sensors. A first transformation matrix of the center of the sphere with respect to a center of the flange is calculated based on pose data of the robot at the target point. A second transformation matrix of a center of the end execution tool with respect to the center of the flange is calculated based on the first transformation matrix.

A control device includes a control section configured to control a motion of a robot arm using values detected by a plurality of distance sensors. The plurality of distance sensors include a first distance sensor and a second distance sensor disposed in a first direction orthogonal to the axial direction of a dispenser. The second distance sensor is disposed in a position further apart from the dispenser than the first distance sensor. The control section executes, on a robot, a first instruction for causing the robot to execute discharge of a discharge object by the dispenser when a distance acquired by the first distance sensor is a distance in a predetermined range and a distance acquired by the second distance sensor is a distance larger than the distance in the predetermined range.

The seam welding apparatus includes a pair of rotating electrodes, an electrode supporting frame, a distance measuring means, and a controller. The electrode supporting frame supports the pair of rotating electrodes. The distance measuring means is provided on the electrode supporting frame and measures a distance to an edge of the steel plate. The controller controls the robot to adjust a running direction of the rotating electrodes so that a deviation comes into zero when a distance actually measured by the distance measuring means deviates from a predetermined distance. Thereby, it is accomplished that the seam welding apparatus is downsized as well as uninfluenced by the surface state and/or shape of workpiece (steel plate).

In a self-detecting apparatus for workpiece-origin, a mobile machine tool having the self-detecting apparatus, a method for self-detecting the workpiece-origin, the self-detecting apparatus is equipped to the mobile machine tool and includes a vision sensor and a transmitting unit. The vision sensor obtains a point image marked to the workpiece, and detects a position of a workpiece-origin based on coincidence of focuses of the points. The transmitting unit provides an information obtained by the vision sensor to the mobile machine tool. The mobile machine tool is moved to the workpiece-origin, so as to coincide the focuses of the points, based on the provided point image obtained by the vision sensor.

Robotic control systems and methods 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. Unintended movement over time of the end effector tool with respect to the work surface and with respect to the worksite coordinate frame may be determined based on image data indicative of the work surface, first location data indicative of a first location of the end effector tool with respect to the worksite coordinate frame, and second location data indicative of a second location of the end effector tool with respect to the work surface. One or more control signals for the robotic device may be adjusted in order to counteract the unintended movements of the end effector tool with respect to the work surface and worksite coordinate frame.

Robotic control systems and methods 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. Unintended movement over time of the end effector tool with respect to the work surface and with respect to the worksite coordinate frame may be determined based on image data indicative of the work surface, first location data indicative of a first location of the end effector tool with respect to the worksite coordinate frame, and second location data indicative of a second location of the end effector tool with respect to the work surface. One or more control signals for the robotic device may be adjusted in order to counteract the unintended movements of the end effector tool with respect to the work surface and worksite coordinate frame.

A control device includes a control section configured to control a motion of a robot arm using values detected by a plurality of distance sensors. The plurality of distance sensors include a first distance sensor and a second distance sensor disposed in a first direction orthogonal to the axial direction of a dispenser. The second distance sensor is disposed in a position further apart from the dispenser than the first distance sensor. The control section executes, on a robot, a first instruction for causing the robot to execute discharge of a discharge object by the dispenser when a distance acquired by the first distance sensor is a distance in a predetermined range and a distance acquired by the second distance sensor is a distance larger than the distance in the predetermined range.

In a self-detecting apparatus for workpiece-origin, a mobile machine tool having the self-detecting apparatus, a method for self-detecting the workpiece-origin, the self-detecting apparatus is equipped to the mobile machine tool and includes a vision sensor and a transmitting unit. The vision sensor obtains a point image marked to the workpiece, and detects a position of a workpiece-origin based on coincidence of focuses of the points. The transmitting unit provides an information obtained by the vision sensor to the mobile machine tool. The mobile machine tool is moved to the workpiece-origin, so as to coincide the focuses of the points, based on the provided point image obtained by the vision sensor.

An automatic calibration method of a robot system comprises providing a ball-rod member including a connection rod and a sphere connected to the connection rod, fixing the connection rod to an end execution tool mounted on a flange of a robot, providing distance sensors around a target point, and sensing an actual distance from each of the distance sensors to the sphere. The robot is controlled to move a center of the sphere to the target point in different poses based on the actual distances sensed by the distance sensors. A first transformation matrix of the center of the sphere with respect to a center of the flange is calculated based on pose data of the robot at the target point. A second transformation matrix of a center of the end execution tool with respect to the center of the flange is calculated based on the first transformation matrix.