How to set the UFRAME on CRX-10iA by a picture ?

Hi !

the question I ask myself is the following :

How change UFRAMEs of the CRX-10iA cobot with an image take by it.

To summarize my cobot is installed on a mobile chassis and the goal is to move it where we want so that it is versatile on several applications.

I think that it would be necessary to use macros to change its UFRAMEs and that each macro would correspond to an application.

These macros would be linked to photos for example a QR code corresponding to each application.

Let's imagine that the cobot is in zero position on all its axes in articulation (J1, J2, J3, J4, J5, J6) before each arrival on station (taking into account that it is a mobile chassis), we would launch a photo recognition program and after that the program would choose in which macro to go.

Thus its trajectories will adapt to the new UFRAME.

Do you know the limitations of this CRX?

Would there be any accuracy problems on the pick and place?

I don't know if I'm using the right method, maybe you know a better method.

Thank you for your information.

MR.

Quote from pdl

What is the task? How important is repeatability? How important is accuracy?

Hi,

For example it would be to take a part to insert a bearing.

The importance of repeatability is that if the robot does not locate itself efficiently enough, this application would only work partially or the cobot would fail very often.

The precision would be more level of luminosity, let us imagine that the cobot face of the shade to the part that will generate a shift on the catch of the part, due to the shifted zone in vision. What type of lighting would you tell me to use to remedy this?

A lighting on the sides or above, given that the camera takes only in 2D?

Thank you for your help

Quote from Nation

That is typically a light press operation. What are your tolerances?

Tolerances for parts/bearings are +/- 0.02