ROBOTIQ CNC Machine Tending Kit, Instruction Manual, Page: 12 / 144

Robotiq CN C M achine Tending Kit Instruction M anual
And Now, Some Terminology
snapshot position Robot pose used to take snapshots with the Wrist Camera.
workspace Area of interest for the Vision System. Fits the field of view of the Wrist Camera.
object Object to locate using the Vision System.
calibration board
Grid provided with the Wrist Camera. Used in the calibration process of the snapshot
position.
1.4.3. Object Location
The Vision System uses the Cam Locate node to locate an object. The illustration below represents the object location process. For
more details, see the Wrist Camera Instruction Manual, section "
Programming with the Camera Locate node " .
Fig. 1-10: Diagram of the object location process.
And Now, Some Terminology
object to locate Object to locate using coordinates x, y, and Rz (rotation).
camera locate relative frame Reference frame as updated by the Vision System to locate an object.
robot base reference frame Frame coordinates defined as [0, 0, 0].
1.4.4. Hardware
The hardware at the core of the Vision System is the Wrist Camera, shown in the figure below. To install the Wrist Camera, refer to the
Installation of the current Instruction Manual.
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