Robotiq Wrist Camera Vision System for Universal Robots
Instruction Manual
Robotiq inc. © 2016
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5.2.2 Detection score & threshold setting
It is possible to modify the success rate at which the camera detects a part. This setting is defined in the
step of the object teaching wizard.
Test and Save
To modify this setting, it is recommended to follow this procedure :
Test the part detection without modifying the success rate.
If you get false detection, increase the success rate by 5% increments, tapping the icon, above the false detection threshold. Try localization
+
between each increments.
If you are not able to detect the part, decrease the threshold by 5% increments,tapping the icon, in order to detect the part on the whole
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workplane.
This procedure ensures the best robustness regarding the part detection throughout the workplane. If it is not possible to define such a success rate the
following should be considered :
Redefine the Cam Locate node (go through the Teach object wizard again), make sure there are no, or the least possible, reflections.
Check the guidelines of
.
Figure 5.2.2.1: Detection threshold adjustment.
