ROBOT TOOL RECONFIGURATION SYSTEM

Abstract

Tool reconfiguration system (100), including: a robot (118); an end effector (120) with two or more identifiers (178, 180, 182, 184) arranged on an outer surface of the end effector (120), wherein the end effector (120) is configured to be attached to the robot (118) and to a vehicle component (122), wherein the end effector (120) is adjustable between a plurality of configurations; a photogrammetry module (102) with a first camera (112) configured to capture images of the end effector (120); an adjustment module (104) that is configured to: Receiving the images from the end effector (120); and Determine, based on the identifiers (178, 180, 182, 184) captured in at least one of the images, whether the end effector (120) has been changed from a first configuration to a second configuration; and a robot control module (106) that is configured to selectively actuate one or more components of the end effector (120) based on the determination and to set a current configuration of the end effector (120) to the first configuration or the second configuration.

Description

[0001] The present invention relates to vehicle manufacturing and in particular to a robot tool reconfiguration system.

[0002] In a vehicle factory, robots can transport a vehicle component from one location to another. The robot can include a movable robot arm and an end effector attached to the robot arm. The end effector can be attached to the vehicle component and can be configured in various ways depending on the specific vehicle component.

[0003] For further background information, reference is made to the publications DE 10 2019 113 764 A1, DE 10 2019 104 013 A1, DE 10 2018 103 805 B4, DE 10 2016 208 456 B4, DE 10 2012 207 249 B4 and EP 1 921 031 B1.

[0004] The invention is based on the objective of providing a tool reconfiguration system that can detect whether the configuration of an end effector has changed and, if so, informs the robot control module about the current configuration.

[0005] This task is solved with a tool reconfiguration system having the features of claim 1.

[0006] In one example, the adjustment module is configured to determine coordinate systems on the end effector based on the positions of two or more identifiers. The adjustment module is configured to determine, based on a change in the coordinate systems, whether the end effector has been adjusted from the first configuration to the second configuration.

[0007] In one example, each of the coordinate systems includes an origin point, an X-axis, a Y-axis, and a Z-axis.

[0008] In one example, the change includes a change in at least one of the directions X, Y and Z.

[0009] In one example, the change includes a change in the angle in at least one of the directions X, Y and Z.

[0010] In one example, the robot control module is configured to store the second configuration in memory when it receives user input indicating that the end effector has been intentionally changed from the first configuration to the second configuration.

[0011] In one example, a reconfiguration tool is configured to actuate one or more of the end effector's components.

[0012] In one example, the robot control module is configured to actuate the reconfiguration tool, which actuates one or more of the end effector components and changes the current configuration of the end effector to the first or second configuration.

[0013] In one example, the end effector comprises a main rod, rod branches that are adjustable to the main rod, and a mounting device that is adjustable to each rod branch.

[0014] In one example, the end effector includes a first identifier attached to the main rod. The adjustment module is configured to determine a first coordinate system on the main rod based on the position of the first identifier.

[0015] In one example, at least one branch of the rod system is slidably and rotatably attached to the main rod by means of a first sleeve. The end effector includes a second identifier attached to the first sleeve. The adjustment module is configured to determine a second coordinate system on the first sleeve based on the position of the second identifier.

[0016] In one example, the adjustment module is configured to determine a first change of the current configuration compared to the first configuration of the first sleeve using the first and second coordinate systems.

[0017] In one example, the mounting device is slidably and rotatably attached to the respective rod branch by means of a second sleeve. The end effector includes a third identifier attached to the second sleeve. The adjustment module is configured to determine a third coordinate system on the second sleeve based on the position of the third identifier.

[0018] In one example, the adjustment module is configured to determine, based on the first, second, and third coordinate systems, whether the end effector has been adjusted from the first configuration to the second configuration.

[0019] In one example, the fastening device is a suction cup.

[0020] In one example, the photogrammetry module includes a second camera configured to capture two images. The adjustment module is configured to receive the second images from the end effector and, based on these images and the second images, determine whether the end effector has been adjusted from the first configuration to the second configuration.

[0021] Furthermore, a method for reconfiguring tools is described. The method includes capturing images of an end effector that is adjustable between a multitude of configurations. The method includes determining whether the end effector has been adjusted from a first configuration to a second configuration based on at least one of the images. The method includes selectively actuating one or more components of the end effector and adjusting the current configuration of the end effector to the first or second configuration based on this determination.

[0022] In one example, determining whether the end effector has been moved from the first configuration to the second configuration involves determining a first coordinate system based on the position of a first identifier located on the end effector and containing at least one of the images, determining a second coordinate system based on the position of a second identifier located on the end effector and containing at least one of the images, and determining whether the end effector has been moved from the first configuration to the second configuration based on a change in the first and second coordinate systems.

[0023] In one example, the procedure involves storing the second configuration in memory in response to receiving user input indicating that the end effector has been intentionally switched from the first configuration to the second configuration.

[0024] Further applications of the present invention will become apparent from the detailed description, the claims, and the drawings. The detailed description and the specific examples serve only for illustration.

[0025] The present invention will become more fully apparent from the detailed description and the accompanying drawings, whereby the following applies: Fig. Figure 1 is a functional block diagram of an exemplary tool reconfiguration system; Fig. Figure 2 is a perspective view of an example robot and end effector; Fig. 3 is a perspective partial view of the exemplary end effector attached to a vehicle component; Fig. Figure 4 is a perspective view of the exemplary end effector; and Fig. Figure 5 is a flowchart that illustrates an example of a procedure for reconfiguring a tool.

[0026] Reference numbers can be reused in the drawings to designate similar and / or identical elements.

[0027] The present application relates to a tool reconfiguration system for robots. Robots can comprise a robot arm and an end effector attached to the robot arm. In a vehicle factory, the end effector can pick up a vehicle component and move it from one location to another. The end effector can be set to a variety of different configurations, e.g., for different vehicle components. For example, the end effector's mounting devices, such as suction cups, can be individually adjusted between different configurations.

[0028] In one example, the end effector configuration can be adjusted using a hand tool. The end effector configuration can be adjusted, for instance, so that one or more fasteners contact a specific vehicle component at one or more optimal locations. Of course, one or more fasteners can also shift due to manufacturing processes or one or more environmental conditions. Examples of environmental conditions include temperature fluctuations in the vehicle factory, which can cause one or more components of the end effector to bend or move.

[0029] The end effector's mounting points can change without the robot or its control module being aware of the change. Without this information, one or more collisions can occur. Given these challenges, a tool reconfiguration system is needed that detects whether the end effector's configuration has changed and, if so, informs the robot's control module of the current configuration.

[0030] Fig. Figure 1 is a functional block diagram of a tool reconfiguration system 100. The tool reconfiguration system 100 can be located in a vehicle factory of an original equipment manufacturer (OEM). The tool reconfiguration system 100 can include a photogrammetry module 102 (e.g., with a photogrammetry setup), an adjustment module 104, a robot control module 106, and a robot 108, which can be attached to an end effector 110.

[0031] The photogrammetry module 102 can contain one or more image sensors (e.g., cameras) configured to capture image data (e.g., images) of the robot 108. The image sensors are positioned in the vehicle factory to visually detect the identifiers attached to the end effector 110. Examples of identifiers include reference points (e.g., reflective ones), quick-response codes (QR codes), markers, or other suitable types of visual identifiers. The photogrammetry module 102 transmits the image data to the adjustment module 104. The image data can be transmitted via wired or wireless connection.

[0032] In the example shown, the photogrammetry module 102 comprises a first camera 112 and a second camera 114, configured to capture first and second images, respectively. The first camera 112 and the second camera 114 can be positioned on one side of the end effector 110, such that the first camera 112 is spaced apart from the second camera 114. Alternatively, the first camera 112 can be positioned on the first side of the end effector 110 and the second camera 114 on the second side of the end effector 110. In one example, the second side can be opposite the first side, e.g., from left to right. In another example, the second side can be perpendicular to the first side or at another suitable angle to it. The first and second cameras 112, 114 are configured to provide a field of view of approximately 10 cubic meters (m²). 3 ) to about 15 m 3The first and second cameras 112, 114 capture images at a frequency of about 100 hertz (Hz) or another suitable frequency and with an accuracy of about 0.1 millimeters (mm) or another suitable accuracy.

[0033] The adjustment module 104 defines a series of coordinate systems on the end effector 110 of the robot 108. Each coordinate system includes an origin point, an X-axis, a Y-axis, and a Z-axis. In one example, the series of coordinate systems includes a reference coordinate system, which can be defined based on a fixed component of the end effector 110, and additional coordinate systems, which can be defined based on the positions of adjustable components of the end effector 110. The adjustment module 104 is configured to determine, based on the series of coordinate systems, whether the end effector 110 has been adjusted from an initial configuration to a current configuration. If the end effector 110 has been adjusted, the adjustment module 104 automatically calculates the amount and direction of the adjustment (X-direction, Y-direction, Z-direction, angular direction, etc.) and automatically generates an image servo command based on this information.The image servo command can be transmitted to the robot control module 106 via wired or wireless connection.

[0034] The robot control module 106 converts the image servo command into a robot command and actuates the robot 108 based on this command. The robot command can be transmitted to the robot 108 automatically via cable or wirelessly. In this way, the robot command is adapted based on one or more differences between the original configuration and the current configuration.

[0035] In the Fig. Figures 2-4 show an exemplary robot 118 with an exemplary end effector 120. Fig. Figure 2 is a perspective view of the exemplary robot 118. Fig. Figure 3 is a perspective partial view of the exemplary end effector 120, which is attached to a vehicle component 122. Fig. Figure 4 is a perspective view of the exemplary end effector 120.

[0036] The example robot 118 is a robot with 6 degrees of freedom (DOF). However, any suitable robot can be used, e.g., a robot with 7 DOF or more. Furthermore, the example end effector 120 is a 5 DOF end effector. However, the end effector 120 can be any suitable end effector, e.g., a 6 DOF end effector.

[0037] The robot 118 can stand on a first stand 124, as shown, or alternatively be arranged on a floor surface. The robot 108 can comprise a robot base 130, a robot arm 132, and a reconfiguration tool 134. The end effector 120 is connectable to and detachable from the robot 108. The robot arm 132 extends between a first end 136 and a second end 138, which faces away from the first end 136. The robot arm 132 can be attached to the robot base 130 at its first end 136 and coupled to the end effector 120 at its second end 138. The robot arm 132 is movable relative to the robot base 130.

[0038] The second end 138 of the robot arm 132 can be connected to the reconfiguration tool 134 and configured to interact with the end effector 120. The reconfiguration tool 134 can be configured to change the configuration of the end effector 120 by adjusting one or more components (e.g., branches, arms, mounting devices, etc.) of the end effector 120. In the Fig. In the example shown, the reconfiguration tool 134 is a pneumatic torque wrench, referred to as a nut turner. However, one or more other suitable reconfiguration tools can also be used additionally or alternatively. The reconfiguration tool 134 can be connected to and disconnected from the robot arm 132. For example, the reconfiguration tool 134 can be disconnected from the robot arm 132 after the end effector 120 has been brought into a specific configuration.

[0039] The second end 138 of the robot arm 132 can be attached to and connected with the end effector 120 and is configured to move the end effector 120. Fig. Figure 2 shows, for example, the end effector 120 on a second stand 140 with a tool changer 142. The configuration of the end effector 120 can be adjusted using the reconfiguration tool 134 while the end effector 120 rests on the second stand 140.

[0040] Fig. Figure 3 shows the end effector 120, which holds the vehicle component 122. The robot arm 132 can move the end effector 120 from the second stand 140 to the vehicle component 122 and actuate one or more components of the end effector 120 to hold the vehicle component 122. The vehicle component 122 is shown as a hood. However, the vehicle component 122 could also be other vehicle components. The present application is also applicable to non-vehicle components.

[0041] The end effector 120 comprises a support rod 144, a main rod 146, rod branches 148 extending from the main rod 146, a rod arm 150 extending from each rod branch 148, and a fastening device 152 arranged on each rod arm 150. In the example shown, the rod branches 148 comprise four rod branches. However, a larger or smaller number of rod branches 148 can also be used. Furthermore, the fastening device 152 in the illustrated example is a suction cup. However, one or more other suitable types of fastening devices can also be used.

[0042] The main rod 146 extends in a straight line between a third end 154 and a fourth end 156, which faces away from the third end 154. A connecting piece 158 can be arranged between the third and fourth ends 154, 156. The connecting piece 158 can be used to attach the end effector 120 to the support rod 144. The second end 138 of the robot arm 132 can be connected to the connecting piece 158 to move and actuate the end effector 120. The fastening devices 152 can be actuated to hold the vehicle component 122 pneumatically or by other suitable means. For example, the robot 118 can draw air from the suction cups to hold the vehicle component 122 using the fastening devices 152.

[0043] Each rod branch 148 can extend between a fifth end 160 and a sixth end 162, which faces away from the fifth end 160. The fifth end 160 is attached to the main rod 146 by a first sleeve 164. The first sleeve 164 can extend annularly around the main rod 146. The first sleeve 164 is configured to be displaceable (in this example horizontally) along the main rod 146 and rotatable around the main rod 146. Each rod branch 148 can be substantially perpendicular to the main rod 146.

[0044] Each rod arm 150 can extend between a seventh end 170 and an eighth end 172, which is turned away from the seventh end 170 ( Fig. 3) The seventh end 170 is attached to the rod branch 148 by a second sleeve 174 and a swivel connector 176. The second sleeve 174 can extend annularly around the rod branch 148. The second sleeve 174 is configured to be displaceable (vertically in this example) along the rod branch 148 and rotatable around the rod branch 148. The swivel connector 176 is connected to the second sleeve 174 and attached to the seventh end 170. The swivel connector 176 is configured to pivot (i.e., rotate) the rod arm 150 relative to the rod branch 148 in an angular direction A. The eighth end 172 is connected to the fastening device 152.

[0045] Identifiers are located on an outer surface of the end effector 120. In the Fig. In the example shown, a first identifier 178 is located on the main rod 146, a second identifier 180 on the first sleeve 164, a third identifier 182 on a second sleeve 174, and a fourth identifier 184 at the eighth end 172 of the rod arm 150. However, a larger or smaller number of identifiers can also be used, and the identifiers can be located at other points on the end effector 120. In some configurations, the identifiers can also be attached to static components within the vehicle factory, e.g., on a floor or wall surface.

[0046] As in Fig. As shown in Figure 4, a series of coordinate systems at the end effector 120 can be visually determined from the first and second images. The coordinate system can comprise a first coordinate system 186, a second coordinate system 188, a third coordinate system 190, and a fourth coordinate system 192. The first coordinate system 186 is determined at a position of the first identifier 178 on the main rod 146. The first coordinate system 186 can be positioned at the connecting piece 158 or at an alternative, non-adjustable position on the main rod 146. The second coordinate system 188 is determined at a position of the second identifier 180 on the first sleeve 164. The third coordinate system 190 is determined at a position of the third identifier 182 on the second sleeve 174. The fourth coordinate system 192 is defined at the position of the fourth identifier 184 at the eighth end 172 of the rod arm 150.The first coordinate system 186 serves as a reference coordinate system for the end effector 120, and the second, third and fourth coordinate systems 188, 190, 192 can be determined for each of the fastening devices 152 of the end effector 120.

[0047] Fig. Figure 5 is a flowchart that illustrates an exemplary procedure 200 of the tool reconfiguration system 100 using the exemplary end effector 120.

[0048] At 202, the first and second cameras 112, 114 of the photogrammetry module 102 take a first and a second image of the identifiers 178, 180, 182, 184 of the end effector 120 and transmit the first and the second image to the adjustment module 104.

[0049] At 204, the adjustment module 104 detects the identifiers 178, 180, 182, 184 within the first and second images and determines a position of the first coordinate system 186, the second coordinate system 188, the third coordinate system 190, and the fourth coordinate system 192 on the end effector 120 based on the positions and orientations of the respective identifiers 178, 180, 182, 184. The adjustment module 104 determines the current configuration of the end effector 120 based on the series of coordinate systems.

[0050] At 206, the adjustment module 104 determines an initial change in the current configuration of the end effector 120 relative to its original configuration, using the first and second coordinate systems 186 and 188. The original configuration of the end effector 120 may be stored in memory. More precisely, the adjustment module 104 determines whether the first sleeve 164 has moved along the main rod 146 relative to its original position on the main rod 146 in the original configuration. If the first sleeve 164 has moved, the adjustment module 104 calculates the amount and direction of movement along the main rod 146 based on the position of the first and second coordinate systems 186 and 188 in the current configuration relative to their position in the original configuration.

[0051] Furthermore, the adjustment module 104 determines whether the first sleeve 164 has rotated around the main rod 146 relative to a rotation of the first sleeve 164 in the original configuration. If the first sleeve 164 has rotated, the adjustment module 104 calculates the amount and direction of rotation around the main rod 146 based on the position of the first and second coordinate systems 186, 188 in the current configuration relative to the position of the first and second coordinate systems 186, 188 in the original configuration. In other words, the first change in the current configuration of the end effector 120 compared to the original configuration includes the amount and direction of movement of the first sleeve 164 along the main rod 146 and the amount and direction of rotation around the main rod 146.

[0052] At 208, the adjustment module 104 determines a second change in the current configuration of the end effector 120 relative to the original configuration of the end effector 120 using the second and third coordinate systems 188, 190. More precisely, the adjustment module 104 determines whether the second sleeve 174 has moved along the rod branch 148 relative to an original position of the second sleeve 174 on the rod branch 148 in the original configuration. If the second sleeve 174 has moved, the adjustment module 104 calculates the magnitude and direction of the movement along the rod branch 148 based on the position of the second and third coordinate systems 188, 190 in the current configuration relative to the position of the second and third coordinate systems 188, 190 in the original configuration.

[0053] Additionally, the adjustment module 104 determines whether the second sleeve 174 has rotated around the rod branch 148 relative to a rotation of the second sleeve 174 in the original configuration. The adjustment module 104 calculates the amount and direction of rotation around the rod branch 148 based on the position of the second and third coordinate systems 188, 190 in the current configuration relative to the position of the second and third coordinate systems 188, 190 in the original configuration. In other words, the second change of the current configuration of the end effector 120 compared to the original configuration of the end effector 120 includes the extent and direction of movement of the second sleeve 174 along the rod branch 148 and the extent and direction of rotation around the rod branch 148.

[0054] At 210, the adjustment module 104 determines a third change in the current configuration of the end effector 120 relative to the original configuration of the end effector 120 using the third and fourth coordinate systems 190, 192. More precisely, the adjustment module 104 determines whether the eighth end 172 of the rod arm 150 has rotated relative to an original position of the second arm end 174 in the original configuration. If the eighth end 172 has rotated, the adjustment module 104 calculates the amount and direction of the rotation based on the position of the third and fourth coordinate systems 190, 192 in the current configuration relative to the position of the third and fourth coordinate systems 190, 192 in the original configuration.In other words, the third change to the current configuration of the end effector 120 compared to the original configuration of the end effector 120 includes the amount and direction of the rotation of the eighth end 172 of the rod arm 150.

[0055] In step 212, the adjustment module 104 determines whether the first, second, and third changes to the current configuration of the end effector 120, compared to the original configuration of the end effector 120, exceed a predetermined tolerance. If step 212 is false, procedure 200 terminates. If step 212 is true, procedure 200 continues with step 214.

[0056] At 214, the adjustment module 104 automatically generates an image servo command using the first, second, and third changes to the current configuration of the end effector 120 compared to the original configuration of the end effector 120. The adjustment module 104 transmits the image servo command to the robot control module 106.

[0057] At 216, the robot control module 106 generates a robot command using the image servo command. More precisely, the robot control module 106 processes the first, second, and third changes and determines a global change (i.e., an absolute change) of the current configuration of the mounting device 152 relative to the original configuration of the mounting device 152. The global change includes the amount and direction of the change of the mounting device 152 relative to the first coordinate system 186.

[0058] At 218, the robot control module 106 determines whether the global change of the mounting device 152 from the original configuration to the current configuration was intentional. In some examples, the robot control module 106 may request user input indicating whether the change was intentional.

[0059] If condition 218 is true (e.g., if user input is received indicating that the change is intended), the procedure continues with condition 220. At condition 220, the robot control module 106 saves the current configuration for the respective vehicle component 122 and sends the robot command to the robot 118. Using the robot command, the robot arm 132 positions the reconfiguration tool 134 at the correct location on the mounting devices 152 of the end effector 120, for example, to change the configuration of the end effector 120 for a different vehicle component. For future interactions with the respective vehicle component 122, the robot control module 106 also sets the end effector 120 to the current configuration.

[0060] If 218 is not true, procedure 200 continues with 222. In 222, the robot control module 106 transmits the robot command to the robot 118. Using the robot command, the robot 118 positions the reconfiguration tool 134 at the current position of the mounting devices 152 and adjusts the mounting devices 152. In one example, the reconfiguration tool 134 adjusts the mounting devices 152 so that the end effector 120 is returned from its current configuration to its original configuration. For future interactions with the vehicle component 122, the robot control module 106 returns the end effector 120 to its original configuration. In another example, the reconfiguration tool 134 adjusts the mounting devices 152 of the end effector 120 to change the configuration of the end effector 120 for a different vehicle component.

[0061] In this application, including the definitions below, the term "module" or the term "controller" may be replaced by the term "circuit". The term "module" may refer to, be part of, or include: an application-specific integrated circuit (ASIC); a digital, analog, or mixed analog / digital discrete circuit; a digital, analog, or mixed analog / digital integrated circuit; a combinational logic circuit; a field-programmable gate array (FPGA); a processor circuit (common, dedicated, or group) that executes code; a memory circuit (common, dedicated, or group) that stores the code executed by the processor circuit; other suitable hardware components that provide the described functionality; or a combination of some or all of the above, e.g., in a system-on-a-chip.

[0062] The module may contain one or more interface circuits. In some examples, the interface circuits may include wired or wireless interfaces connected to a local area network (LAN), the internet, a wide area network (WAN), or combinations thereof. The functionality of any module of the present invention may be distributed across multiple modules connected via interface circuits. For example, multiple modules may enable load balancing. In another example, a server module (also referred to as a remote or cloud module) may perform certain functions on behalf of a client module.

[0063] The term "memory circuit" is a subset of the term "computer-readable medium." The term "computer-readable medium," as used here, does not include transitory electrical or electromagnetic signals that propagate through a medium (e.g., on a carrier wave); the term "computer-readable medium" can therefore be considered tangible / material and non-transient. Examples of non-transient, tangible, computer-readable media include non-volatile memory circuits (e.g., a flash memory circuit, a erasable programmable read-only memory circuit, or a mask read-only memory circuit), volatile memory circuits (e.g., a static random-access memory circuit or a dynamic random-access memory circuit), magnetic storage media (e.g., an analog or digital magnetic tape or a hard disk drive), and optical storage media (e.g., a CD, a DVD, or a Blu-ray Disc).

[0064] The devices and methods described in this application can be implemented partially or completely by a specialized computer formed by configuring a general-purpose computer to perform one or more specific functions embodied in computer programs. The functional blocks, flowchart components, and other elements described above serve as software specifications that can be translated into computer programs through the routine work of an experienced technician or programmer.

[0065] The computer programs contain processor-executable instructions stored on at least one non-transient, tangible, machine-readable medium. The computer programs may also contain or access stored data. The computer programs may include a basic input / output system (BIOS) that interacts with the hardware of the specialized computer, device drivers that interact with specific devices of the specialized computer, one or more operating systems, user applications, background services, background applications, etc.

Claims

[1] Tool reconfiguration system (100), comprising: a robot (118); an end effector (120) having two or more identifiers (178, 180, 182, 184) disposed on an outer surface of the end effector (120), the end effector (120) configured to be attachable to the robot (118) and to a vehicle component (122), the end effector (120) being adjustable between a plurality of configurations; a photogrammetry module (102) having a first camera (112) configured to capture images of the end effector (120); an adjustment module (104) configured to: Receiving the images of the end effector (120); and Determining, based on the identifiers (178, 180, 182, 184) captured in at least one of the images, whether the end effector (120) has been adjusted from a first configuration to a second configuration; and a robot control module (106) configured to selectively actuate one or more components of the end effector (120) based on the determination and to set a current configuration of the end effector (120) to the first configuration or the second configuration. [2] Tool reconfiguration system (100) according to claim 1, wherein: the adjustment module (104) is configured to determine coordinate systems (186, 188, 190, 192) on the end effector (120) based on the positions of the two or more identifiers (178, 180, 182, 184); and the adjustment module (104) is configured to determine whether the end effector (120) has been adjusted from the first configuration to the second configuration based on a change in the coordinate systems (186, 188, 190, 192). [3] The tool reconfiguration system (100) of claim 2, wherein each of the coordinate systems (186, 188, 190, 192) includes an origin point, an X-axis, a Y-axis, and a Z-axis. [4] The tool reconfiguration system (100) of claim 2, wherein the change comprises a change in at least one of an X-direction, a Y-direction, and a Z-direction. [5] The tool reconfiguration system (100) of claim 2, wherein the change comprises a change in the angle in at least one of an X-direction, a Y-direction, and a Z-direction. [6] The tool reconfiguration system (100) of claim 1, wherein the robot control module (106) is configured to store the second configuration in a memory in response to receiving a user input indicating that the end effector (120) has been intentionally adjusted from the first configuration to the second configuration. [7] The tool reconfiguration system (100) of claim 1, further comprising a reconfiguration tool (134) configured to actuate one or more of the components of the end effector (120). [8] The tool reconfiguration system (100) of claim 7, wherein the robot control module (106) is configured to actuate the reconfiguration tool (134) to thereby actuate the one or more components of the end effector (120) and adjust the current configuration of the end effector to the first configuration or the second configuration. [9] The tool reconfiguration system (100) of claim 1, wherein the end effector (120) comprises a main rod (146), rod branches (148) adjustably attached to the main rod (146), and an adjustably attached fastener (152) on each rod branch (148).

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