Patent Document ID: 10052766
Application ID: 14937061
Patent Status: 1

Claim One:
1. A method of controlling a depth sensor and a robotic arm, the depth sensor and the robotic arm operate in a workspace, the robotic arm comprises an end effector, the method comprising: monitoring the depth sensor, the robotic arm, and the workspace for a condition indicative of the depth sensor and the robotic arm being out of calibration; selectively initiating sampling of calibration points for the depth sensor and the robotic arm in the workspace responsive to the condition being detected, wherein detection of the condition indicative of the depth sensor and the robotic arm being out of calibration causes the sampling of the calibration points for the depth sensor and the robotic arm in the workspace to be performed; and when initiated responsive to the condition being detected, the sampling of the calibration points for the depth sensor and the robotic arm in the workspace comprises: employing a control system to control movement of the robotic arm, the robotic arm being moved to cause the end effector of the robotic arm to non-continuously traverse through the workspace based on a pattern, wherein the end effector is stopped at positions within the workspace specified by the pattern; and at each position from the positions within the workspace at which the end effector is stopped: collecting a sensor calibration point for the position of the end effector within the workspace detected by the depth sensor, the sensor calibration point for the position comprises coordinates of the end effector at the position within the workspace in a sensor coordinate frame; and collecting an arm calibration point for the position of the end effector within the workspace detected by the robotic arm, the arm calibration point for the position comprises coordinates of the end effector at the position within the workspace in an arm coordinate frame.