Hi,
We have some robots picking parts using line tracking and a vision system on a constant conveyor. All works fine.
We'd now like to be able to measure how far a target item is down the belt, some time after the item is acquired but before we start moving towards it. The purpose is to apply some rotations that keep out tooling safe. Ideally this would be the current part location in the world frame, or something similar.
Would appreciate any help in doing this. Looking at the item PR gives me the location relative to the tracking frame when the part was acquired, which remains static as the item moves. This is not a problem for the robot's behaviour since that uses the tracking frame, but I'm not sure how to get the item location relative to the world origin.
Thanks!