Hi,
I'm using iRvision, with cobot CRX-25.
I'm picking up a part, an aluminum bottle inside a carton box. The camera looking at bottle's neck area, which is a round features. I attached a picture of how the part looks like from above, as the camera sees it.
I created a vision pick up program for 1 spot, then use offset to shift and pick up at all other position (36 spots, by case, can be 100 spots total).
I'm facing a problem that depends on the location of the carton box, the vision pick up program automatically adjusted arm's position and some spot will cause problem with the next movement.
I need to have robot arm only pick up part in a certain position, specially J4 axis number should only in a certain range (Robot can only hold part vertically, can not hold horizontally, with J4 moved too much out of range, part will be horizontally in next movement).
I need advices on:
1. Is there anyway I can restrict J4 axis angle? For example, do not go over +-100 degree range, when running the irVision pick up?
2. I'm thinking of a alternative way, only use vision to detect the center of the part and then do the pick up manually, so that I can control arm position as I want. -> How do I access the center of my part with iRvision?
Thank you very much for your help.