A method for vision-based tool localization (VTL) in a robotic assembly system including one or more calibrated cameras, the method comprising capturing a plurality of images of the tool contact area from a plurality of different vantage points, determining an estimated position of the tool contact area based on an image, and refining the estimated position based on another image from another vantage point. The method further comprises providing the refined position to the robotic assembly system to enable accurate control of the tool by the robotic assembly system.

A machine tool for machine processing workpieces by using a tool having a pull stud at a proximal end portion thereof. The machine tool includes a tool magazine having a number of tool holders each of which is capable of attaching and detaching the tool, a spindle which holds the tool at the time of machine processing the workpieces, and a controller which determines whether or not the pull stud is appropriate on the basis of detected data of a visual sensor which is provided inside or outside the machine tool, and which captures images of the pull stud of a tool holder of the tool, or detected data of a sensor which is provided inside the tool magazine, and which measures length, electric resistance, or electric capacity of the pull stud.

A machine tool for machine processing workpieces by using a tool having a pull stud at a proximal end portion thereof. The machine tool includes a tool magazine having a number of tool holders each of which is capable of attaching and detaching the tool, a spindle which holds the tool at the time of machine processing the workpieces, and a controller which determines whether or not the pull stud is appropriate on the basis of detected data of a visual sensor which is provided inside or outside the machine tool, and which captures images of the pull stud of a tool holder of the tool, or detected data of a sensor which is provided inside the tool magazine, and which measures length, electric resistance, or electric capacity of the pull stud.

Systems and methods are disclosed for determining tool offset data for a tool attached to a robot at an attachment point. In an embodiment, a method includes controlling the robot to contact a reference object with the tool. The reference object is a rigid object with a known location. A force feedback sensor of the robot indicates when the tool has contacted the reference object. Once contact is made, data indicating robot position during tool contact is received. Additionally, the robot temporarily stops movement of the tool to prevent damage to the tool or the reference object. Next, tool offset data is determined based on the position of the reference object relative to the robot and the received robot position data. The tool offset data describes the distance between at least one point on the tool and the attachment point.

Robotic processor embodiments determine via graphical image analysis physical attributes of an engagement area of a work-piece that a specified tool physically engages to execute a specific action. The processors identify a model set plurality of alternate substitute tools that are each available within a physical environment of the engagement area and have a body portion with physical dimensions that conform to physical dimensions of the work-piece engagement area, and thereby select a substitute tool that has a body portion that best conforms to the physical dimensions of the work-piece engagement area and meets constraints for substitute tool selection for executing the specific action.

Robotic processor embodiments determine via graphical image analysis physical attributes of an engagement area of a work-piece that a specified tool physically engages to execute a specific action. The processors identify a model set plurality of alternate substitute tools that are each available within a physical environment of the engagement area and have a body portion with physical dimensions that conform to physical dimensions of the work-piece engagement area, and thereby select a substitute tool that has a body portion that best conforms to the physical dimensions of the work-piece engagement area and meets constraints for substitute tool selection for executing the specific action.

A tool check device for robot arm, includes: a movement control unit configured to control a robot arm such that a tool to be attached to the robot arm is arranged at a first axis coordinate, of a three-dimensional coordinate system, according to a tool condition concerning at least either of a type or a state of the tool in an inspection space defined as the three-dimensional coordinate system; a distribution data acquisition unit configured to acquire distribution data, of an object in the inspection space, indicated by a combination of a second axis coordinate and a third axis coordinate of the three-dimensional coordinate system, after the control by the movement control unit; and a determination unit configured to determine whether the tool condition is satisfied, based on the distribution data.

Example systems and methods are disclosed for determining tool offset data for a tool attached to a robot at an attachment point. The method may include controlling the robot to contact a reference object with the tool. The reference object may be a rigid object with a known location. A force feedback sensor of the robot may indicate when the tool has contacted the reference object. Once contact is made, data indicating robot position during tool contact may be received. Additionally, the robot may temporarily stop movement of the tool to prevent damage to the tool or the reference object. Next, tool offset data may be determined based on the position of the reference object relative to the robot and the received robot position data. The tool offset data may describe the distance between at least one point on the tool and the attachment point.

Systems and methods are disclosed for determining tool offset data for a tool attached to a robot at an attachment point. In an embodiment, a method includes controlling the robot to contact a reference object with the tool. The reference object is a rigid object with a known location. A force feedback sensor of the robot may indicates when the tool has contacted the reference object. Once contact is made, data indicating robot position during tool contact is received. Additionally, the robot may temporarily stops movement of the tool to prevent damage to the tool or the reference object. Next, tool offset data s determined based on the position of the reference object relative to the robot and the received robot position data. The tool offset data describes the distance between at least one point on the tool and the attachment point.

Example systems and methods are disclosed for determining tool offset data for a tool attached to a robot at an attachment point. The method may include controlling the robot to contact a reference object with the tool. The reference object may be a rigid object with a known location. A force feedback sensor of the robot may indicate when the tool has contacted the reference object. Once contact is made, data indicating robot position during tool contact may be received. Additionally, the robot may temporarily stop movement of the tool to prevent damage to the tool or the reference object. Next, tool offset data may be determined based on the position of the reference object relative to the robot and the received robot position data. The tool offset data may describe the distance between at least one point on the tool and the attachment point.