Abstract: Embodiments of the disclosure include a method to create a three-dimensional (3D) tool frame for a robot. The method includes identifying a reference point on a calibration grid using a robotic vision system, such as a camera or laser. The identified reference point is used to create a user frame coordinate system with an origin at the identified reference point. The identified reference point being equal to a field of view origin created by a 3D scanner. Being at the specific location where the field of view origin is created during calibration, a 3D tool frame is created based on user frame location. The 3D tool frame indicates the location and orientation of the 3D scanner in the field of view coordinate system.

Abstract: A system for use in performing maintenance on a turbine rotor. The system includes a rotor mount configured to receive the turbine rotor, a robotic device, a visual inspection device removably coupleable to the robotic device, and a computing device. The computing device is configured to direct the robotic device to evaluate, with the visual inspection device, the turbine rotor at different circumferential locations thereof to obtain rotor axis data, determine a centerline of the turbine rotor based on the rotor axis data, generate a coordinate system including the centerline of the turbine rotor, direct the robotic device to evaluate, with the visual inspection device, each blade on at least one stage of the turbine rotor to obtain blade position data relative to the centerline, and populate the coordinate system with the blade position data.