Guided Pick with Robot-Mounted Camera

System Configuration

Application:

Pick Part 1 and place it on a fixed location with identical pose.
Camera 1: Mounted on the robot.
PartID 1:

Locate Part 1 to determine the pick pose.
Prerequisites:
  • The system is calibrated.
  • The PartID of Part 1 is assigned in the VGRDefine* function on the spreadsheet.
  • The feature finder referenced by the function is trained to find the part.

Training

  1. Move the robot in the appropriate pick pose for Part 1.

    Command: TTR,1,<current robot pose>

  2. Release Part 1, which remains in place. Move to the acquisition pose for Part 1.

    Command: TT,1,<current robot pose>

Run Time

Part 1 is in an arbitrary run-time pose.

  1. Move to the acquisition pose to locate Part 1.

    Command: XT,1,ABS,<current robot pose>

    Return string: XT,1,<run-time pick pose>

  2. Move to the returned pose and pick Part 1.

  3. Move to the fixed pose that is pre-trained on the robot controller to place Part 1.