Robotiq Wrist Camera Vision System for Universal Robots
Instruction Manual
Robotiq inc. © 2016
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4.1 Guidelines on Snapshot Position
The following must be considered when choosing your Snapshot Position:
Choosing the workspace:
Mostly uniform color;
Planar;
Provide contrast to your part, see
for details.
Distance to the workplane:
Your Snapshot Position will determine the field of view of the camera and thus the workspace used afterwards.
See specifications in
for details on the field of view & part size;
Getting closer to the workplane, will reduce your workspace but allow you to locate smaller objects;
Getting away from the workplace will increase the workspace but will increase the minimum size of objects to locate.
Angle of the camera:
Snapshot position should consider the Camera angle:
Robotiq greatly recommends to have the Camera perpendicular to the surface:
Be as close as possible to perpendicular, avoid reflections.
Object should be seen from the top view, not from the side.
Calibration board:
Snapshot position does not need to see the full calibration board, calibration step does.
Use the
.
Board must be fully visible by the Camera.
Refer to
for Calibration board position specifications.
Tip
During the Snapshot Position define step, use the "Show Grid" button, a grid will appear. You object should be bigger
then one grid cell.
Tip
The Snapshot position and Calibration pose are decoupled, they do not need to be the same.
