DYNAMIC LASER TOUCH SENSING BY MULTIPLE ROBOTS, AND DYNAMIC USER COORDINATE SYSTEM

摘要

PROBLEM TO BE SOLVED: To provide a method and system for touch sensing in order to provide an updated user coordinate system.SOLUTION: Touch sensing includes execution of a touch sensing plan. The touch sensing plan includes one of a laser touch sensing event and wire touch sensing event. One of the laser touch sensing event and wire touch sensing event is switched to the other of the laser touch sensing event and wire touch sensing event during execution of the touch sensing plan. Offset of a workpiece relating to a user coordinate system is determined based on the touch sensing of the workpiece, and the offset is applied on the user coordinate system and provides an updated user coordinate system. A particular dynamic user coordinate system function allows a same touch sensing program to be duplicated and applied by a plurality of robot control devices.SELECTED DRAWING: Figure 1