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 method for automatically transferring spouted pouches provides a simple, efficient approach for automatically loading spouted pouches from a container to a belt conveyor. And, an automatic pouch transferring assembly is also provided.

A device and method for aligning a robot coordinate system, being a coordinate system of a robot for moving an operating point three-dimensionally, and a measuring instrument coordinate system, being a coordinate system of a three-dimensional measuring instrument which is capable of executing a light sectioning method and of which a position and attitude with respect to the operating point are unchanging, characterized by including the steps of: determining a relationship between the coordinate systems; radiating sheet-like slit light from the three-dimensional measuring instrument onto a reference object in the shape of a rectangular cuboid which is fixed; finding the attitude of the three-dimensional measuring instrument relative to the reference object; and moving the three-dimensional measuring instrument such that the attitude of the three-dimensional measuring instrument falls within a predetermined standard attitude range.

A robot system includes a robot that self-travels along a traveling shaft and is provided with a position detection sensor at a distal end, a support member that has a plurality of reference positions juxtaposed and supports a workpiece, a plurality of calibration members that are juxtaposed along the traveling shaft, and a control device, in which the calibration members each have a calibration position, and the control device is configured to cause the robot to move by a predetermined first distance along the traveling shaft, calibrate position coordinates of the robot based on position coordinates of the calibration positions detected by the position detection sensor, and subsequently calibrate position coordinates of the workpiece based on position coordinates of the reference positions detected by the position detection sensor.

A method, instructions for which are executed from a computer-readable medium, calibrates a robotic camera system having a digital camera connected to an end-effector of a serial robot. The end-effector and camera move within a robot motion coordinate frame (“robot frame”). The method includes acquiring, using the camera, a reference image of a target object on an image plane having an optical coordinate frame, and receiving input signals, including a depth measurement and joint position signals. Separate roll and pitch offsets are determined of a target point within the reference image with respect to the robot frame while moving the robot. Offsets are also determined with respect to x, y, and z axes of the robot frame while moving the robot through another motion sequence. The offsets are stored in a transformation matrix, which is used to control the robot during subsequent operation of the camera system.

According to one aspect of the present invention, disclosed is an automatic calibration method for a calibration device connected to a camera that is disposed the end effector of a robot and to a robot controller for controlling the robot. The method comprises the steps of: acquiring, from the camera and the robot controller, a robot-based coordinate system and an image of a marker marked in the work area of the robot (wherein the acquired image and robot-based coordinate system are recorded while the end effector is moved to a plurality of sample coordinates); and estimating the position of a robot coordinate system-based marker by using the acquired image and robot-based coordinate system.

The invention describes a generic framework for hand-eye calibration of camera-guided apparatuses, wherein the rigid 3D transformation between the apparatus and the camera must be determined. An example of such an apparatus is a camera-guided robot.

Disclosed herein is a device, system and method for determining error in robotic manipulator-to-camera calibration. The method includes detecting a test object by a camera coupled to a robotic manipulator. One or more test points are identified on the test object based on a CAD model and pre-defined contact points corresponding to the test object. Arm poses are determined for the robotic manipulator to reach the test points on the 3D test object by using current robotic manipulator-to-camera calibration. While driving an end effector of the robotic manipulator based on the arm poses, any contact of the end effector on the 3D test object is recorded upon receiving a feedback from the 3D test object. An error is determined in the current robotic manipulator-to-camera calibration based on current position of the end effector relative to the one or more test points on the 3D test object.

Provided is a method for the computerized control of an end element of a machine tool. The method includes a method step of sensing a plurality of optical markers in a work environment of the machine tool by means of an optical measuring system. The method includes a method step of determining a first relative pose between the end element and a workpiece on the basis of the plurality of sensed optical markers. The method includes a method step of determining a first correction value on the basis of a comparison of the first relative pose with a reference pose. The method includes a method step of controlling the end element for machining the workpiece taking the first correction value into consideration.

An automatic robotic arm system and a coordinating method for robotic arm and computer vision thereof are disclosed. A beam-splitting mirror splits an incident light into a visible light and a ranging light and respectively guides to an image capturing device and an optical ranging device arranged in the different reference axes. In a calibration mode, a transformation relation is computed based on a plurality of the calibration postures and corresponding calibration images. In an operation mode, a mechanical space coordinate is determined based on an operation image and the transformation relation, and the robotic arm is controlled to move based on the mechanical space coordinate.