System And Method For Determining A Work Offset

A non-transitory computer-readable medium storing instructions that are executable by one or more computing devices, wherein executing the instructions causes the one or more computing devices to perform functions comprising:

• receiving an indication to determine a work offset for a robot operating in a work environment, wherein the work offset describes a location and an angular orientation of a working plane of the work environment relative to a base plane of the robot;
• in response to the indication, identifying the working plane within the work environment;
• controlling the robot to contact one or more points of the working plane;
• determining respective point locations of the one or more contacted points relative to the base plane based on respective positions of the robot at respective times of contact;
• and
• determining the location and angular orientation of the working plane relative to the base plane based on the determined respective point locations of the one or more contacted points.

A system comprising:

• a processor;
• and
• a memory storing instructions that when executed by the processor cause the system to perform functions comprising:
• receiving an indication to determine a work offset for a robot operating in a work environment, wherein the work offset describes a location and an angular orientation of a working plane of the work environment relative to a base plane of the robot;
• in response to the indication, identifying the working plane within the work environment;
• controlling the robot to contact one or more points of the working plane;
• determining respective point locations of the one or more contacted points relative to the base plane based on respective positions of the robot at respective times of contact;
• and
• determining the location and angular orientation of the working plane relative to the base plane based on the determined respective point locations of the one or more contacted points.