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BBellBBell Posts: 17 Apprentice
Sorry in advance for my naivety. I am curious to see if anyone has utilized the Robotiq Wrist Camera to detect screw hole locations. We currently have 4 different types of boards that have different locations of screw holes. The screws are already installed and the screw driver unscrews them and re-screws the screws to get them to a certain torque. Currently, the screw locations are hard coded in and we would like to change that and implement the use of the camera so that the operation would be more robust. The material is an aluminum metal and the screws do not sit very deep past the surface. Does anyone know if this is possible? Would we need to use the object tracking? Thanks in advance!


  • bcastetsbcastets Vacuum Beta tester Posts: 505 Expert
    It would need to be tested with your PCB and our lighting environment.
    If the PCB is very complex it is possible that the camera make wrong detection in the background.
    Also screw heads are quite small, you would need to take pictures quite close to the PCB to detect a screw head.
  • BBellBBell Posts: 17 Apprentice
    How will the robot know if there is a screw head? Will I just do a teach object for the screws? Another option that was discussed is to have the robot recognize the shape of the board (each board is different in shape). The thought is that if the robot knows which board it is and where the board is then it can figure out where the screws are. This seems like it'd be the more complex option because then we would have to assign local way points in relation to the board rather than the base of the robot.
  • bcastetsbcastets Vacuum Beta tester Posts: 505 Expert
    Detected the position of the board is a good idea because it is more easy to detect with the camera.
    Indeed make relative programming from the board position to remove the screw in place is possible but modification if the relative positions is not easy.

    You could make a 3 steps approach.
    • Detect the type of board
    • Move the robot above each screw position, take a picture to detect screw position
    • Unscrew
    This way you can determine the screw position with more accuracy.

    The screw may be detected with a edge model or a parametric model (circle). You can test which is the best one.

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