Dynamic laser touch-sensing with multiple robot dynamic user frame

A method for touch-sensing to provide an updated user frame, the method comprising:

• providing a user frame;
• touch-sensing a workpiece using a robot having a robot arm, the robot arm including a laser touch sensor and a wire touch sensor, the touch-sensing including performing a touch-sensing schedule, the touch-sensing schedule including one of a laser touch-sensing event and a wire touch-sensing event;
• switching the one of the laser touch-sensing event and the wire touch-sensing event to the other of the laser touch-sensing event and the wire touch-sensing event while performing the touch-sensing schedule;
• determining an offset of the workpiece relative to the user frame based on the touch-sensing of the workpiece;
• and
• applying the offset to the user frame to provide the updated user frame.

A method for touch-sensing to provide an updated user frame, the method comprising:

• providing a user frame;
• touch-sensing a workpiece, the touch-sensing including a laser touch-sensing event, where touch-sensing the workpiece includes using a leader robot and the method further comprises providing the updated user frame to a follower robot;
• determining an offset of the workpiece relative to the user frame based on the touch-sensing of the workpiece;
• and
• applying the offset to the user frame to provide the updated user frame.