Methods, apparatus, computer programs, and non-transitory computer readable storage mediums for controlling at least one of a first robot and a second robot

摘要

The position and orientation of at least one of separate robots 20 and 22 within a system 11 is measured, possibly using electromagnetic waves such as LASER, ultrasonic waves by way of a three dimensional scanner mounted on the robot 22, and possibly using magnetic fields. The position or orientation of robot 20 is used to collaborate with robot 22, possibly by moving relative to the system, by imaging robot 20 or the system, or by clamping or machining an object. The position and orientation of robot 20 may also be measured, and the actions of robot 20 may also be controlled. The measured part of either robot may be the ends 48 and 54. The robots may be continuum or snake robots, with bases moveable relative to each other. Each robots end may be equipped to interchangeably receive an imaging apparatus, machining apparatus or clamping apparatus.