A robot mounted camera absolutely can find parts relative to a user frame. It must be setup for a fixed frame offset, then a reference must be set.
Ah! I suspected as much, but wasn't sure -- I've never used IrVision in that mode.
A robot mounted camera absolutely can find parts relative to a user frame. It must be setup for a fixed frame offset, then a reference must be set.
Ah! I suspected as much, but wasn't sure -- I've never used IrVision in that mode.
Have you tried this?
Yes I used that but the found position is not correct
That depends on how your system is configured, and what you want to achieve.
Do you need to measure the part's location in World or UFrame? Or do you just need the robot to be able to grab the part?
I'm not certain if IRVision directly supports using a robot-carried camera to measure a location in World or UFrame (that's normally done with a fixed overhead camera), but if your UFrame and the calibration grid are set up correctly, it should be possible to use a combination of LPOS() and the camera feedback to calculate the UFrame position of the part.
I'm not certain how to do it in TP. It would require having the IrVision UFrame active, having a TCP at the center of the camera active, then taking LPOS() and multiplying/offsetting it by a PR set to to the vision results.
Or, a cruder but simpler way, might be to simply let the robot guide onto the part "normally", by moving in Tool coordinates until the IrVision position error is 0, then record LPOS().
I appreciate this approach but would like something more robust and precise.
A robot mounted camera absolutely can find parts relative to a user frame. It must be setup for a fixed frame offset, then a reference must be set.
Can you show a screenshot of your vision process setup?
Here is a screenshot of my vision process:
Like I said before, I think you will be hard pressed to be accurate in world frame, UF[0].
You need to teach a good user frame with a good pointer. Then use that user frame for your Offset frame, and finally update your Z height to match the part surface within that user frame.
Unless the robot is mounted to a perfectly flat surface and the part is laying on that same surface world frame will cause issues if used for your offset frame. And no matter how perfect you think it is, I'm betting that it is not good enough for 2D vision.
Ok thank you I understand, I will test this early next week. I come back to you. Thanks everyone.