
I used this piece of paper as the object to teach to the vision system and I used another piece of yellow paper to act as the static background. The image template that was generated following the 5 pictures of the logo looked like this :

Then for the scanning process, I removed the paper version of the logo and placed the real part in the camera's field of view. The scanning process is used to refine the image template, so it is best to have the real part for this part of the teaching process. Once the scan was finished, I tested the detection of the logo on the real part and here are the results:

As you can see, I manage to build an image template that corresponds to a 97.6% match on the real part. This "Hack" can be used to identify a specific feature on a part that would be too large to teach to the vision system in its entirety. You could also use this method to inspect an assembly to verify that a specific part is present in the assembly. This could also be used to identify a specific feature of a large part, and then a Path Recording could be used to dispense glue in that feature.
In this demo, I am locating the Robotiq logo on the housing and I used a Path Recording to guide the tool around the logo.

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Regarding the camera's tolerance, the precision has not been completely specified. Here is a post that explains how to get the best precision from the vision system: http://dof.robotiq.com/discussion/comment/1511/#Comment_1511
Robotiq Integration Coach
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1-418-380-2788, option 3
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