A method for deburring an aeronautical part with an articulated tooling including a plurality of axes of rotation, the aeronautical part including at least one edge to be deburred, the articulated tooling including a tool holder, holding a calibration tool and a machining tool, the calibration tool and the machining tool being fixed to the tool holder and being immovable relative to one another, the method including steps of calibrating the calibration tool and the machining tool, of parameterizing the aeronautical part, of deburring the at least one edge to be deburred with the machining tool moving along a predetermined trajectory, on the basis of the parameters obtained during the parameterization step.

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.

A device with a processing unit and a storage device also has a base, a cover including a plurality of guiding holes, a plurality of receiving members, an installation member, a plurality of first sensing devices, and a plurality of second sensing devices. The processing unit determines by a specific one of the first sensing devices corresponding to a specific one of the receiving members that the installation member is to acquire a fastening element from the specific receiving member. Then, the processing unit determines by a specific one of the second sensing devices corresponding to a specific one of the guiding holes that the installation member is to move towards the specific guiding hole. The processing unit controls the installation member to fasten the fastening element to an electronic device through the specific guiding hole when the specific first sensing device corresponds to the specific second sensing device.

An end effector calibration assembly includes an electronic controller, a first camera assembly communicatively coupled to the electronic controller, and a second camera assembly communicatively coupled to the electronic controller. A first image capture path of the first camera assembly intersects a second image capture path of the second camera assembly. The electronic controller receives image data from the first camera assembly, receives image data from the second camera assembly, and calibrates a position of the robot end effector based on the image data received from the first camera assembly and the second camera assembly.

A calibration method for a coordinate system of a workpiece held by a robot manipulator, which includes the following steps: setting a predicted coordinate system on the workpiece; controlling the drive mechanism to drive the workpiece to move a specific distance along a coordinate axis in the predicted coordinate system and measuring the distance change of the workpiece in a direction perpendicular to the move; using the measured distance change to determine an orientation error between the predicted coordinate system and the actual coordinate system; correcting the orientation parameters of the predicted coordinate system; controlling the drive mechanism to drive the workpiece to rotate by a specific angle around a coordinate axis of the predicted coordinate system and measuring the distance change after being rotated; using the measured distance change to determine a position error; correcting the position parameters of the predicted coordinate system.

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 for deburring an aeronautical part with an articulated tooling including a plurality of axes of rotation, the aeronautical part including at least one edge to be deburred, the articulated tooling including a tool holder, holding a calibration tool and a machining tool, the calibration tool and the machining tool being fixed to the tool holder and being immovable relative to one another, the method including steps of calibrating the calibration tool and the machining tool, of parameterizing the aeronautical part, of deburring the at least one edge to be deburred with the machining tool moving along a predetermined trajectory, on the basis of the parameters obtained during the parameterization step.

A method of calibrating a coordinate positioning machine is described. The machine is controlled into a pivot pose in which a target point associated with a moveable part of the machine and a pivot point associated with a fixed part of the machine are separated from one another by a known separation. An error value for that pose is determined based on the known separation and a separation expected for that pose from the existing model parameters of the machine. The machine is controlled into a plurality of different target poses, and for each target pose a separation between the target point and the pivot point is measured and an error value for that pose is determined based on the measured separation and a separation expected for that pose from the existing model parameters.

A calibration method for, in a robot including a robot arm, calculating a positional relation between a first control point set in an end effector attached to the distal end of the robot arm and a second control point set further on the robot arm side than the end effector, the calibration method calculating a coordinate in a robot coordinate system of a first feature point of the robot associated with the first control point based on a first vector and a second vector calculated using an imaging section while moving the robot arm.

A method for measuring a pose of a robotic end tool, including: obtaining a three-dimensional feature of a flange and a three-dimensional feature of the end tool, establishing a first coordinate system and a second coordinate system at the center of the flange and the center of the end tool respectively, calculating a positional offset of the second coordinate system relative to the first coordinate system, and calculating a rotation offset of the second coordinate system relative to the first coordinate system according to each unit vector of the second coordinate system, so as to obtain a pose of the end tool relative to the flange. The method provided in the present application, compared with the manual observation method, the precision and stability of the pose measurement method are high.