Guided Pick with Robot-Mounted Camera

System Configuration

	Application:	Pick Part and place it on a fixed location with identical pose.
	Camera 1:	Mounted on the robot.
	PartID 1:	Locate Part to determine the pick pose.
	Prerequisites:	The system is calibrated. The PartID of Part 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.

   Command: TTR,1,<current robot pose>

   

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

   Command: TT,1,<current robot pose>

   

Run Time

Part is in an arbitrary run-time pose.

1. Move to the acquisition pose to locate Part.

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

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

   

2. Move to the returned pose and pick Part.

   

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