Method, computer program product and robot controller for configuring a robot-object system environment, and robot

A computer program product Comprising a computer readable hardware storage device having computer readable program code stored therein said program code executable by a processor of a computer system to implement a method for configuring a robot-object system environment which has at least one object and a robot for manipulating and capturing objects, having a non-volatile, readable memory which stores processor-readable control program instructions of a program module carrying out the robot-object system environment configuration, and a processor which is connected to the memory, executes the control program instructions of the program module for configuring the robot-object system environment and in the process synchronizes a digital robot twin, which digitally represents the robot-object system environment and controls the robot for manipulating objects on the basis of a control program, for expedient use of the robot in the robot-object system environment, when manipulating objects,

• wherein
• the program module is created and the processor executing the control program instructions of the program module for configuring the robot-object system environment is configured in such a manner that the digital robot twin is synchronized, as required and in this respect, in one or two stages, wherein
• a) in a first stage, each object in the robot-object system environment is optically captured with respect to an object position during the control program run until
• a1) the position of the object has been determined with sufficient accuracy for a first-stage accuracy requirement,
• a2) an improvement in the accuracy of the object position in the digital robot twin is required in a second stage with regard to the synchronization and is expedient under given conditions of the second-stage synchronization, or
• a3) it is not possible to improve the accuracy of the object position in the digital robot twin,
• b) in the second stage, each object in the robot-object system environment is captured with respect to an object position during the control program run by determining an object pose distribution or by determining an object pose distribution and robot contact until
• b1) the position of the object has been determined with sufficient accuracy for a second-stage accuracy requirement, or
• b2) it is not possible to improve the accuracy of the object position in the digital robot twin.