In order to be able to automatically eliminate discrepancies, arising in the course of the configuration of a robot-object system environment, between the reality of the robot-object system environment and its digital representation as a CAD model, without manual on-site commissioning of the robot-object system environment with adaptation of the CAD model to the reality, the following is proposed for configuring a robot-object system environment having at least one object and having a robot for object manipulation and object sensing: synchronizing a digital robot twin, which digitally represents the robot-object system environment and controls the robot for the object manipulation on the basis of a control program, for expedient use of the robot in the robot-object system environment during the object manipulation, appropriately and, in this regard, in one or two stages.

Disclosed are systems and methods to provide a method for calibrating a touchscreen coordinate system of a touchscreen with an industrial robot coordinate system of an industrial robot for industrial robot commissioning and industrial robot system and control system using the same. In one form the systems and methods include attaching an end effector to the industrial robot; (a) moving the industrial robot in a compliant way until a stylus of the end effector touches a point on the touchscreen; (b) recording a position of the stylus of the end effector in the industrial robot coordinate system when it touches the point of the touchscreen; (c) recording a position of the touch point on the touchscreen in the touchscreen coordinate system; and calculating a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three positions of the end effector stylus and the at least three positions of the touch points.

A method for calibration of work piece mounted in a predetermined manner to a work object and a robot system using the same. The work object has a first surface, a second surface and a third surface, and wherein the work object frame of reference is defined by a first coordinate line, a second coordinate line, and a third coordinate line at intersections of the first surface, the second surface and the third surface converging on a point. The method includes: touching a first number of locations on the first surface of the work object positioned by the robot touch probe to measure their actual locations on the first surface in the robot frame of reference, and storing the measured first coordinates for the measured locations; touching a second number of locations on the second surface of the work object positioned by the robot touch probe to measure their actual locations on the second surface in the robot frame of reference, and storing the measured second coordinates for the measured locations; touching a third number of locations on the third surface of the work object positioned by the robot touch probe to measure their actual locations on the third surface in the robot frame of reference, and storing the measured third coordinates for the measured locations; calculating orientation and origin of the work object frame of reference from the robot frame of reference based on the measured first, second and third coordinates for the measured locations, where the work object is positioned in the robot cell. The method provides all the necessary data to determine orientation and origin of the actual work object frame of reference relative to the robot frame of reference. The method also enables the robot to perform machine operations accurately at locations on a work object.

A metallurgical technology probe insertion calibration method employing visual measurement and an insertion system thereof are provided. A vision sensor (5), a cylindrical rod (1), and a metallurgical technology probe (2) are used to construct an agreed region (6). In the agreed region (6), the vision sensor (5) acquires relative positions and orientations of the cylindrical rod (1) and the metallurgical technology probe (2), and an acquired position and orientation result is used to control a driving device (3) to insert the cylindrical rod (1) into the metallurgical technology probe (2). To improve the accuracy and reliability of the insertion, a standard probe (7) and a fixing device (4) are used together to perform effective calibration on an initial position, orientation, and axis in the insertion.

A metallurgical technology probe insertion calibration method employing visual measurement and an insertion system thereof are provided. A vision sensor (5), a cylindrical rod (1), and a metallurgical technology probe (2) are used to construct an agreed region (6). In the agreed region (6), the vision sensor (5) acquires relative positions and orientations of the cylindrical rod (1) and the metallurgical technology probe (2), and an acquired position and orientation result is used to control a driving device (3) to insert the cylindrical rod (1) into the metallurgical technology probe (2). To improve the accuracy and reliability of the insertion, a standard probe (7) and a fixing device (4) are used together to perform effective calibration on an initial position, orientation, and axis in the insertion.

Disclosed are systems and methods to provide a method for calibrating a touchscreen coordinate system of a touchscreen with an industrial robot coordinate system of an industrial robot for industrial robot commissioning and industrial robot system and control system using the same. In one form the systems and methods include attaching an end effector to the industrial robot; (a) moving the industrial robot in a compliant way until a stylus of the end effector touches a point on the touchscreen; (b) recording a position of the stylus of the end effector in the industrial robot coordinate system when it touches the point of the touchscreen; (c) recording a position of the touch point on the touchscreen in the touchscreen coordinate system; and calculating a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three positions of the end effector stylus and the at least three positions of the touch points.

A method for calibrating a touchscreen panel and the system, the industrial robot and the touchscreen panel using the same. The method including the steps of: (a) defining at least one area of the touchscreen with predetermined accuracy for position measuring; (b) recording a plurality of kinematic parameters of the industrial robot on a plurality of first touch points on the at least one area of the touchscreen; (c) recording a plurality of first position values on the plurality of first touch points on the at least one area of the touchscreen; (d) determining a first calibration data for the kinematic model of the industrial robot using the kinematic parameters and using the first position values; (e) computationally correcting errors of the kinematic model of the industrial robot using the first calibration data; (f) recording a plurality of second position values on a plurality of second touch points on the at least one area with at least a portion of its border extending outwards; (g) determining a second calibration data for the touchscreen using the kinematic parameters and using the second position values; (h) computationally correcting errors of position measurement of the touchscreen using the second calibration data; and iteratively repeating the steps (b) through (h) for different postures of the industrial robot until the iteration step no longer results in significant improvement of the error correction of the kinematic model of the industrial robot.

Disclosed are systems and methods to provide a method for calibrating a touchscreen coordinate system of a touchscreen with an industrial robot coordinate system of an industrial robot for industrial robot commissioning and industrial robot system and control system using the same. In one form the systems and methods include attaching an end effector to the industrial robot; (a) moving the industrial robot in a compliant way until a stylus of the end effector touches a point on the touchscreen, (b) recording a position of the stylus of the end effector in the industrial robot coordinate system when it touches the point of the touchscreen; (c) recording a position of the touch point on the touchscreen in the touchscreen coordinate system; and calculating a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three positions of the end effector stylus and the at least three positions of the touch points.

Example systems and methods are disclosed for determining work offset data for a robot in a work environment. A robot operating in a work environment may receive an indication to determine a work offset. The work offset may describe the location and angular orientation of a working plane of the work environment relative to a base plane of the robot. In response to the indication, the robot may identify the working plane. The robot may be controlled to contact one or more points of the working plane. The robot may determine respective point locations of the contacted points relative to the base plane based on the respective positions of the robot at respective times of contact. The robot may determine the location and angular orientation of the working plane relative to the base plane based on the determined respective point locations of the contacted points.

A method for calibration of work piece mounted in a predetermined manner to a work object and a robot system using the same. The work object has a first surface, a second surface and a third surface, and wherein the work object frame of reference is defined by a first coordinate line, a second coordinate line, and a third coordinate line at intersections of the first surface, the second surface and the third surface converging on a point. The method includes: touching a first number of locations on the first surface of the work object positioned by the robot touch probe to measure their actual locations on the first surface in the robot frame of reference, and storing the measured first coordinates for the measured locations; touching a second number of locations on the second surface of the work object positioned by the robot touch probe to measure their actual locations on the second surface in the robot frame of reference, and storing the measured second coordinates for the measured locations; touching a third number of locations on the third surface of the work object positioned by the robot touch probe to measure their actual locations on the third surface in the robot frame of reference, and storing the measured third coordinates for the measured locations; calculating orientation and origin of the work object frame of reference from the robot frame of reference based on the measured first, second and third coordinates for the measured locations, where the work object is positioned in the robot cell. The method provides all the necessary data to determine orientation and origin of the actual work object frame of reference relative to the robot frame of reference. The method also enables the robot to perform machine operations accurately at locations on a work object.