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Tyler_Berryman
Posts: 122 Handy
Screw insertion using Robotiq Camera |
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19 comments |

Hi guys,
I was curious to see if I could use the vision system to find the through holes in a part. I tried teaching the M6 holes to the vision system, but I had to get very close to the part and this was limiting the field of view of the camera. So I decided to teach the entire part to the vision system, and I use an IF statement to teach several hole positions instead. I used a pallet function to pick up the 4 screws from the jig, and I used 4 IF statements to tell the robot where to insert the screws. In this demonstration, I am inserting the screws clockwise into the mechanical coupling.

As you can see, the part can be moved around since the vision system is looking for the part after picking up each screw.
*It would've been a good idea to use the aluminum fingertips without the silicone since the screws were sticking to the silicone!
I was curious to see if I could use the vision system to find the through holes in a part. I tried teaching the M6 holes to the vision system, but I had to get very close to the part and this was limiting the field of view of the camera. So I decided to teach the entire part to the vision system, and I use an IF statement to teach several hole positions instead. I used a pallet function to pick up the 4 screws from the jig, and I used 4 IF statements to tell the robot where to insert the screws. In this demonstration, I am inserting the screws clockwise into the mechanical coupling.

As you can see, the part can be moved around since the vision system is looking for the part after picking up each screw.
*It would've been a good idea to use the aluminum fingertips without the silicone since the screws were sticking to the silicone!
Tagged:
Robotiq Integration Coach
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1-418-380-2788, option 3
That's an interesting application. In fact, I'm working on a similar application. My application need to be really precise and the bigger part will move between two insertions. I'm thinking about using first a camera to locate approximately where the hole is, and then insert the screw properly using a force sensor. Do you have an idea of the accuracy of a such system? Do you have any other idea for precise insertions? All ideas are welcomed.
Could you give me some information regarding the size of the part and the size of the holes?
Robotiq Integration Coach
[email protected]
1-418-380-2788, option 3
Best ;-)
Mathieu Bélanger-Barrette Jr. Eng. / ing. jr
Production Engineer
[email protected]robotiq.com
Here is the page concerning the size of parts: http://support.robotiq.com/display/RVS/6.3+Vision+System+Specifications
The minimum dimension detectable is 10% of the field of view, so 7.5 mm would be the smallest dimension the camera can detect.
This would work for the part dimension you have.
[email protected]
https://www.linkedin.com/in/catherinebernier
Sweet application. One question: are the holes on the part through holes such that when you take a picture you have a good contrast in the hole (background compared to the parts since you see the background through the hole?)
Here is a picture of the part from the Wrist Camera's point of view:
And here is a picture of the image template generated by the vision system :
As you can see, the through holes are included in the image template for the mechanical coupling. In my program, I was not actually locating the individual through holes. I was looking for the mechanical coupling itself, and I taught 4 different pick positions in the camera locate node. I figured that I would get a better detection score by looking for the part instead of an individual hole in the part.
Robotiq Integration Coach
[email protected]
1-418-380-2788, option 3
Thanks
[email protected]
https://www.linkedin.com/in/catherinebernier
Warm Regards,
Lakshmi Prasanna.
However, I did try teaching a black circle on a white piece of paper and it worked fine. Here is the setup that I used:
The camera is about 16cm above the object. Here is the detection score that I obtained with this snapshot position.
And here is the size of the black circle that I drew on the white piece of paper :
As you can see the black dot is about 7mm in diameter.
The position according to the base is:
X = 347.04mm
Y = -309.92mm
Z = -4.70mm
Rx = 0.0242
Ry = -5.3594mm
Rz = 0.0173
Try this and let me know if it works!
Robotiq Integration Coach
[email protected]
1-418-380-2788, option 3
Thanking you in advance.
Kindly please provide some suggestion.
Thanking you in advance.
Warm Regards,
Lakshmi Prasanna
http://dof.robotiq.com/discussion/441/teaching-a-shiny-part-to-the-vision-system
http://dof.robotiq.com/discussion/210/shiny-object-vision-challenge
Robotiq Integration Coach
[email protected]
1-418-380-2788, option 3
Robotiq Integration Coach
[email protected]
1-418-380-2788, option 3