Abstract: A calibration apparatus includes a processor, an alignment device, and an arm. The alignment device captures images in a three-dimensional space, and a tool is arranged on a flange of the arm. The processor records a first matrix of transformation between an end-effector coordinate-system and a robot coordinate-system, and performs a tool calibration procedure according to the images captured by the alignment device for obtaining a second matrix of transformation between a tool coordinate-system and the end-effector coordinate-system. The processor calculates relative position of a tool center point of the tool in the robot coordinate-system based on the first and second matrixes, and controls the TCP to move in the three-dimensional space for performing a positioning procedure so as to regard points in an alignment device coordinate-system as points of the TCP, and calculates the relative positions of points in the alignment device coordinate-system and in the robot coordinate-system.

Abstract: A pen-sized keyboard arrangement of the present invention comprises a flexible keyboard member, a rolling mechanism and an electrical connection unit. The rolling mechanism includes a base and an elongated rolling pole pivotally connected to the base. The rolling mechanism defines a longitudinally extending an elongated groove. One end of the rolling mechanism is pivotally connected to the base. The other end thereof is used for being rotated by a user for rolling in and pull out the flexible keyboard member. The flexible keyboard member includes a buffer for absorbing the deformation of the flexible keyboard member when the flexible keyboard member is rolled in or pulled out. The rotating mechanism can rotate the electrical connection unit about a desired angle for being properly viewed by a user. Such a keyboard arrangement is apparently easy for being carried and provides a large area for each key-press thereby facilitating a rotating operation by a user.

Abstract: A pen-sized keyboard arrangement of the present invention comprises a flexible keyboard member, a rolling mechanism and an electrical connection unit. The rolling mechanism includes a base and an elongated rolling pole pivotally connected to the base. The rolling mechanism defines a longitudinally extending an elongated groove. One end of the rolling mechanism is pivotally connected to the base. The other end thereof is used for being rotated by a user for rolling in and pull out the flexible keyboard member. The flexible keyboard member includes a buffer for absorbing the deformation of the flexible keyboard member when the flexible keyboard member is rolled in or pulled out. The rotating mechanism can rotate the electrical connection unit about a desired angle for being properly viewed by a user. Such a keyboard arrangement is apparently easy for being carried and provides a large area for each key-press thereby facilitating a rotating operation by a user.