Wrist Camera - Instruction Manual
Fig. 4-66: Inserting a Move node with Universal Robots, e-Series models .
4.6.3. object_location pose
Once a Snapshot position is defined, the work plane used for the calibration gets its own coordinate system, regardless of its
orientation. This coordinate system is shown in the figure below.
Fig. 4-67: Work plane reference frame.
The Wrist Camera detects an object on the workplane and find its X-Y position, as well as its Z-orientation in the work plane
coordinates system (see the figure below). Thus, a detected object is always laid flat (parallel) to the work plane. It is possible to use the
object_location
pose, which is a variable containing the detected object pose [positions X, Y, Z, and rotations Rx, Ry, Rz]) in the
robot base reference frame. This variable is updated each time the program goes within a Cam Locate node, thus every time an object
is detected, regardless of how many Cam Locate nodes are in the program. The
object_location
pose is relative to the robot base
frame.
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