Hello Everybody,
I'm new on robotics, and working on an project where i have to find the orientation of the products related to TCP of the robot.
Setup:
Robot: KRC 60-3
Controller: KRC4 8.8.33
We have to handle multiple panels all of them have other dimensions.
The panels Will be picked from multiple in feed stations, a vision system Will identify the product type.
based on that I'm able to locate roughly the orientation of the panel in the gripper.
In the image attached the steps of the measurement procedure where i was thinking about.
The result what i need is just an corner of the panel X/Y and its rotation A.
Step 1:
The robot fly's to the measurement space.
This position Will always be the same rotation of the TCP, based on product length and width i can define the X/Y offset.
Step 2:
Find the length of the panel by moving the robot towards S2/S3.
Step 3:
Based on the sensor that was found first, the robot has to rotate around it to find the other sensor.
from here on I'm able to define the rotation from the panel according to my gripper(TCP), and the offset in width.
Step 4:
Find S1 and define the length offset of the panel.
I understand that i can find the positions of the sensors by interrupt, save the position of it an so on.
But i need a little bit of help by step 3. My first idea is to calculate an TCP related to the sensor switch position what is found as first and the actual robot position.
then make an rotation around that point and find the other sensor.
i was wondering are there more easy options to do this ?
for example:
is it possible to skip the calculation of an TCP related to the sensor what i suggested before.
something like S2 found an rotate around fixed position of the switch point of the sensors towards S3.
Thanks.