Abstract: A reactive AGV system includes an AGV vision guidance system which places the camera system and controlled lighting sources between the drive wheels of the AGV to shield from ambient light and provide a constant lighting condition. The AGV guide path includes physical path properties for controlling AGV behavior. Visual Parameters of the guide path such as line thickness, line color, the presence and form of a secondary control line, or the presence of distinct a line elements may all be used as visual input control signals for the AGV. Additionally viewable icons are used for controlling AGV routing. These icons may, preferably, also be human readable to enhance the customer understanding and therefore usage of the system.

Abstract: A method for tool calibration for a robotic tool includes providing a calibration device within a robot envelope. The calibration device includes a calibrating member positioned along a calibrating plane. The tool tip of the robotic tool is positioned to an initial position within the calibrating plane and position values of the robot face plate are obtained. The tool tip is rotated about the estimated or prior tool center point, the tool tip is again positioned within the calibrating plane, and further position values of the robot face plate are obtained. The actual tool center point is calculated from the obtained position values.

Abstract: The present invention provides a tool center point calibration apparatus and method for accurately determining appropriate tool center points for a robot to allow for proper tool alignment and correction of robot programs. The calibration apparatus includes a calibration beam on a single line.