How to manage pick possibility with the Robotiq Wrist Camera

Sebastien

Hi pros,
one quick question as we are working for an application with the Robotiq camera. We have objects laying randomly on a flat surface that we can vibrate to make the parts move around. We are not able to pick the parts using vaccuum but instead would like to use the Robotiq 2F85 to pick the part using its external edge (not doing inside picking with the gripper). However, as we vibrate the table the parts will separate but some of them will remain fairly close to each other. So far we observed parts that we could detect with the Robotiq Camera but were too close to another part such that the gripper was not able to pick it up. We can gen around that a bit by using the grip detection of the gripper after it tried to pick the object but I would rather eliminate that pick candidate right from the snapshot.

Any ideas how to do this?

Etienne_Samson

@Sebastien the Camera Locate does not handle that directly but normally if you adjust your detection threshold to be high enough the system will not recognize two parts next to one another. Have you tried adjusting this ? Of course if you have any distance between your parts (over a mm) then  the system will see the part and you cannot predict collisions.

Sebastien

@Etienne_Samson
Thanks for the feedback. We have not tried using the threshold yet but this is something that we will look at.