Abstract: Disclosed is a method and system for finding a relationship between a tool-frame of a tool attached at a wrist of a robot and robot kinematics of the robot using an external camera. The position and orientation of the wrist of the robot define a wrist-frame for the robot that is known. The relationship of the tool-frame and/or the Tool Center Point (TCP) of the tool is initially unknown. For an embodiment, the camera captures an image of the tool. An appropriate point on the image is designated as the TCP of the tool. The robot is moved such that the wrist is placed into a plurality of poses. Each pose of the plurality of poses is constrained such that the TCP point on the image falls within a specified geometric constraint (e.g. a point or a line). A TCP of the tool relative to the wrist frame of the robot is calculated as a function of the specified geometric constraint and as a function of the position and orientation of the wrist for each pose of the plurality of poses.

Abstract: A robot control system that includes a controller that is capable of controlling the current supplied to a current-controlled tool mounted on the robot. The controller is capable of accepting operator inputs and the robot is coupled in data communication to the controller. A tool which is controlled in at least one manner by electric current is mounted on the arm of the robot. The controller is coupled in data communication to a current source and is programmed to control the current supplied to the tool. The controller is also capable of receiving inputs from an operator and is capable of ramping the current supplied to the tool from an initial current level to an operator selected current level over an operator defined and inputted selected time. The controller can also ramp the current supplied to the tool from the selected current level to a third current level over a second operator selected and inputted time period.