Asyril Asycube Control URCap, Руководство пользователя

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Asycube Control URCap
User guide
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Copyright Asyril S.A.
UR program examples Version: A2
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Figure 6-6
– URCap program: making most of the parts fit into the empty spaces of the
structured plate
6.2.1. Flexible_pick_and_place_with_vision_feedback
The Flexible_pick_and_place_with_vision_feedback example implements the process driven
by the different information extracted from the picture acquired by the vision system, the
Asycube surface being flat.
If no parts have been detected, new parts must be first provided by the hopper and then
smartly distributed over the whole Asycube flat surface, using different information provided
by the vision system and the execution of the smart centering process.
The smart centering process implemented by the Asycube is driven by the number of
detected parts on its surface, and the coordinates of the center of mass of the shape
englobing all the detected parts. Thus, the vision system must return these information
( nb_parts , center_mass_x , center_mass_y ).
Figure 6-7
– URCap program: smart centering inputs returned by the vision system
Once the parts are provided by the hopper, they are first centered by the smart centering
process driven by the vision system outputs, and finally flipped. It results in an overall equal
part distribution over the Asycube surface. The last Wait node allows the process to wait for
the parts to stabilize after having been flipped.
6.3. Loading an example
These programs can be loaded in a standard way through the UR controller and each
example is linked to a dedicated robot installation file that must be loaded as well when
loading the program. These examples are located in the AsycubeCtrl_Samples folder,
automatically created when installing the URCap and directly visible when loading a program.