Disclosed are an automatic welding system and method for large structural parts based on hybrid robots and 3D vision. The system comprises a hybrid robot system composed of a mobile robot and an MDOF robot, a 3D vision system, and a welding system used for welding. The rough positioning technique based on a mobile platform and the accurate recognition and positioning technique based on high-accuracy 3D vision are combined, so the working range of the MDOF robot in the XYZ directions is expanded, and flexible welding of large structural parts is realized. The invention adopts 3D vision, thus having better error tolerance and lower requirements for the machining accuracy of workpieces, positioning accuracy of mobile robots and placement accuracy of the workpieces; and the cost is reduced, the flexibility is improved, the working range is expanded, labor is saved, production efficiency is improved, and welding quality is improved.

A method for handling an object comprises the steps: a) connecting the object (1) with a manipulator (5) and with an input tool (7) by means of which a direction ({right arrow over (d)}) within an internal coordinate system (K) relating to the input tool (7) can be entered, d) initiating a test movement of the manipulator (5) on the basis of a direction ({right arrow over (r)}) known in the external coordinate system (K); e) determining the direction ({right arrow over (r)}) of a movement of the input tool (7) in the internal coordinate system (K) resulting from the test movement of the manipulator (5); f) determining a coordinate transformation (T) which transforms the direction of the resulting movement ({right arrow over (r)}) in the internal coordinate system into the known direction ({right arrow over (r)}) in the external coordinate system; g) detecting an internal direction ({right arrow over (d)}) within the internal coordinate system (K) entered by a user using the input tool (7); h) applying the coordinate transformation (T) to the detected internal direction ({right arrow over (d)}) in order to obtain an external direction ({right arrow over (d)}); and i) controlling a movement of the manipulator (5) on the basis of the external direction ({right arrow over (d)}).

An automatic calibration method for a robot system comprises providing a ball-rod member including a connection rod and a sphere connected to a first end of the connection rod, fixing an opposite second end of the connection rod to an end execution tool mounted on a flange of a robot, and controlling the robot to move a center of the sphere to a same target point in a plurality of different poses under the guidance of a vision sensor. A 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 same target point. A transformation matrix of a center of the end execution tool with respect to the center of the flange is calculated according to a formula.

A method for handling an object comprises the steps: a) connecting the object (1) with a manipulator (5) and with an input tool (7) by means of which a direction ({right arrow over (d)}) within an internal coordinate system (K) relating to the input tool (7) can be entered, d) initiating a test movement of the manipulator (5) on the basis of a direction ({right arrow over (r)}) known in the external coordinate system (K); e) determining the direction ({right arrow over (r)}) of a movement of the input tool (7) in the internal coordinate system (K) resulting from the test movement of the manipulator (5); f) determining a coordinate transformation (T) which transforms the direction of the resulting movement ({right arrow over (r)}) in the internal coordinate system into the known direction ({right arrow over (r)}) in the external coordinate system; g) detecting an internal direction ({right arrow over (d)}) within the internal coordinate system (K) entered by a user using the input tool (7); h) applying the coordinate transformation (T) to the detected internal direction ({right arrow over (d)}) in order to obtain an external direction ({right arrow over (d)}); and i) controlling a movement of the manipulator (5) on the basis of the external direction ({right arrow over (d)}).

A function generation apparatus includes a function setter, a data string selector, and a matrix generator. The function setter sets a target function in an apparatus to be controlled. The data string selector selects, from among data strings indicating a plurality of combinations of parameters that can be reflected in control in the apparatus to be controlled, data strings according to the function set by the function setter. The matrix generator generates a transformation matrix according to the target function using the data strings selected by the data string selector as elements.