OnRobot HEX-E v1, Руководство пользователя

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Using the URCap Plugin 49
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If necessary, more than one F/T Search can be used to align the item horizontally
and vertically.
Make sure to use only the relative offset type of input parameters
of the F/T Search command to be always relative to the pattern.
For more information see F/T Search command .
The
programs/OnRobot_UR_Programs
folder contains a collision detection
example UR program, called OnRobot_Palletizing_Example.urp .
3.5.6 Pin Insertion
Inserting pins or pegs into tight holes cannot be achieved with traditional position
based solutions. Even with cameras one cannot have a robust solution.
With the help of the precise OnRobot F/T sensor and the
F/T Insert Pin
command anyone can easily and robustly solve tasks that requires precision fitting.
The
programs/OnRobot_UR_Programs
folder contains a collision detection
example UR program, called OnRobot_Pin_Insertion_Example.urp .
3.5.7 Box Insertion
Inserting a rectangular object into a rectangular hole is a common task, such as
inserting a car radio assembly into the radio bracket or inserting a battery into a
phone.
With the help of the
F/T Insert Box
command anyone can easily solve these
tasks.
The
programs/OnRobot_UR_Programs
folder contains a collision detection
example UR program, called OnRobot_Box_Insertion_Example.urp .