Abstract: Methods, apparatuses, systems, and computer readable media for managing a tool in a robot system. In a method, a plurality of arm positions of a robot arm of the robot system are obtained when the tool is placed under a posture on a surface of a calibration object for calibrating the tool, where the posture represents rotation parameters of the robot arm. A center of the calibration object is determined based on the plurality of arm positions. A reference position of the robot arm is generated for calibrating the tool based a position of the center and the posture.

Abstract: Methods, apparatuses, systems, and computer readable media for managing a tool in a robot system. In a method, a plurality of arm positions of a robot arm of the robot system are obtained when the tool is placed under a posture on a surface of a calibration object for calibrating the tool, where the posture represents rotation parameters of the robot arm. A center of the calibration object is determined based on the plurality of arm positions. A reference position of the robot arm is generated for calibrating the tool based a position of the center and the posture.

Abstract: A method and an apparatus for calibrating a crankshaft to be processed. The method includes causing a positioner to rotate to at least three different angles. The positioner is configured to support the crankshaft and drive the crankshaft to rotate. The method also includes causing a probe to touch a plurality of points on a first cylindrical crankpin of the crankshaft respectively to obtain coordinates of the plurality of points in a robot coordinate system; fitting the coordinates of the plurality of points on the first cylindrical crankpin respectively to obtain a respective pose of the first cylindrical crankpin relative to the robot coordinate system; and determining a pose of a rotating axis of the crankshaft relative to the robot coordinate system based on the respective pose of the first cylindrical crankpin.