Methods, systems, and apparatus, including computer programs encoded on a computer storage medium that automatically calibrates robots and sensors assigned to perform a task in an operating environment. One of the methods includes obtaining a representation of a robotic operating environment. A user selection of a plurality of components to be configured to operate in the robotic operating environment is received. A mapping is obtained between pairs of components to be calibrated and one or more respective calibration processes to perform to calibrate each pair of components. From the mapping, one or more calibration processes to be performed on pairs of components based on the user selection of the plurality of components is computed. Calibration instruction data describing how to perform the one or more calibration processes to be performed on the pairs of components of the user selection is determined and presented.

A method and an apparatus for calibrating a tool in a flange coordinate system of a robot are disclosed. The method includes: acquiring a rotation angle of each joint of a robot when a to-be-calibrated tool fasted on an end joint mounting portion of the robot moves to a central point of the to-be-calibrated tool and overlaps with a calibration reference point acquiring calibration information of a central point of a calibrated tool in a flange coordinate system of the robot and completing calibration of the central point of the to-be-calibrated tool in the flange coordinate system of the robot according to the calibration information of the central point of the calibrated tool and a rotation angle of the to-be calibrated tool.

A method of operating an articulated arm CMM is provided. One or more coordinates on an object can be measured with the articulated arm CMM. At least one of the encoders can then be at least partially powered-off. The encoder can then be powered on and one or more coordinates on the same object can be measured without recalibrating the encoder.

A method of calibrating a contact probe having a deflectable stylus and configured to provide at least one signal which is indicative of the extent of deflection of the stylus, the contact probe being mounted on a coordinate positioning machine which facilitates reorientation of the contact probe about at least one axis. The method includes: taking measurement data obtained with the contact probe positioned at a plurality of different orientations about the at least one axis; and determining from the measurement data at least one gain variation model which models any apparent variation in the gain of the at least one probe signal dependent on the orientation of the contact probe about the at least one axis.

A three-dimensional measuring device includes a ball-shaped structure, an X-axis measuring module, a Y-axis measuring module and a Z-axis measuring module. The ball-shaped structure is moved and/or rotated in response to a movement of a movable object. The X-axis measuring module includes a first measuring structure and a first position sensor. The first measuring structure is movable along an X-axis direction and contacted with the ball-shaped structure. The Y-axis measuring module includes a second measuring structure and a second position sensor. The second measuring structure is movable along a Y-axis direction and contacted with the ball-shaped structure. The Z-axis measuring module includes a third measuring structure and a third position sensor. The third measuring structure is movable along a Z-axis direction and contacted with the ball-shaped structure.

A method of operating an articulated arm CMM is provided. One or more coordinates on an object can be measured with the articulated arm CMM. At least one of the encoders can then be at least partially powered-off. The encoder can then be powered on and one or more coordinates on the same object can be measured without recalibrating the encoder.

A method of operating an articulated arm CMM is provided. Instructions for the CMM can be inputted to the CMM arm by an action chosen from the group consisting of placing the arm in a predefined position and moving the arm in a predefined manner.

A method of calibrating a contact probe having a deflectable stylus and configured to provide at least one signal which is indicative of the extent of deflection of the stylus, the contact probe being mounted on a coordinate positioning machine which facilitates reorientation of the contact probe about at least one axis. The method includes: taking measurement data obtained with the contact probe positioned at a plurality of different orientations about the at least one axis; and determining from the measurement data at least one gain variation model which models any apparent variation in the gain of the at least one probe signal dependent on the orientation of the contact probe about the at least one axis.

A method and an apparatus for calibrating a tool in a flange coordinate system of a robot are disclosed. The method includes: acquiring a rotation angle of each joint of a robot when a to-be-calibrated tool fasted on an end joint mounting portion of the robot moves to a central point of the to-be-calibrated tool and overlaps with a calibration reference point; acquiring calibration information of a central point of a calibrated tool in a flange coordinate system of the robot; and completing calibration of the central point of the to-be-calibrated tool in the flange coordinate system of the robot according to the calibration information of the central point of the calibrated tool and a rotation angle of the to-be calibrated tool.

Methods, systems, and apparatus, including computer programs encoded on a computer storage medium that automatically calibrates robots and sensors assigned to perform a task in an operating environment. One of the methods includes obtaining a representation of a robotic operating environment. A user selection of a plurality of components to be configured to operate in the robotic operating environment is received. A mapping is obtained between pairs of components to be calibrated and one or more respective calibration processes to perform to calibrate each pair of components. From the mapping, one or more calibration processes to be performed on pairs of components based on the user selection of the plurality of components is computed. Calibration instruction data describing how to perform the one or more calibration processes to be performed on the pairs of components of the user selection is determined and presented.