Robotiq Wrist Camera Vision System for Universal Robots
Instruction Manual
Robotiq inc. © 2016
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5.1 Guidelines on Object Teaching
The following must be considered when going through the object teaching process:
Parts criteria for reliable localization:
Object is quasi-flat, respecting a maximum ratio of 1:1 between it's height and it's smallest dimension (view
).
Top surface is mostly flat.
Object has a distinct shape, distinct features.
Not highly reflective
Not transparent
Choosing the appropriate background:
Workspace must be clear of any parts, planar and mostly uniform.
At run-time, the workspace conditions can change, object detection threshold, explained in
, can be used to adjust
detection settings according to those conditions.
That background must be a uniform, continuous shape with a single color.
When placing the background in the field of view of the camera in the background photo step of
, if is better to leave a margin
around it as shown in figure 5.1.1.
Figure 5.1.1: Choosing the appropriate background
Ambient conditions
During the teaching process, it is important to have stable lighting
At run-time, lighting can fluctuate, can also be compensated with object detection threshold
The Wrist Camera has integrated lighting, your application should not need external lighting if you are in a normal working environment.
Info
Distinct shape would mean a part contour that sharply contrast to the background and ideally not symmetric. Distinct features are
shapes present within the contour of your part that the Vision System will be able to identify, such has holes, drawings, colors
contrast, etc.
Note
From the Vision System point of view, white, gray and black are the same color, they are different gradients of gray. Don't use a
black background to teach metal part. This would be seen as a pale gray object on a dark gray background and would result in
errors. Refer to
