| 摘要 |
A robot has a controllable arm which carries an instrument or tool. The robot is provided with a camera to obtain an image of a work piece, including images of markers and an indicator present on the work piece. The robot processes the images to determine the position of the markers within a spatial frame of reference. The robot is controlled to effect predetermined movements of the instrument or tool relative to the work piece. The processor is further configured to determine the position of the indicator and to respond to movement of the indicator within the spatial frame of reference of the robot when the markers are concealed to determine a new position of the indicator and thus the new position of the work piece. Subsequently, the robot is controlled, relative to the new position of the work piece, to effect predetermined movements relative to the work piece. |
