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Tyler_Berryman
Posts: 122 Handy
Using one Snapshot Position to sort Multiple Parts |
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Tyler_Berryman
Posts: 122 Handy
Hi DoF community,
In this post, I am looking to show you how to sort parts using the Robotiq Wrist Camera. The idea here is to use a single Snapshot position (one single calibration) to teach 3 different parts to the vision system. Here are the three parts of the 2F85 gripper assembly that I used for this demonstration:
In this program, I am using 3 variables to control the place positions for each of the 3 parts. The variable associated with the first part on the left is Flange, the variable associated with the part in the middle is Phalanx and the variable associated with the part on the right is Finger. These variables are incremented every time the camera locate node for that given part is executed. This incrementation allows me to tell the robot to place the part in a certain position using IF statements. Since I am using 3 different Camera Locate nodes (1 for each part), the searching phase of the program can be a little long. For this reason, I am using an IF statement to ignore a Camera Locate node if the number of parts in the workspace has already been sorted. In this demonstration, I am using two examples of each part so I know that there are only two parts corresponding to each Camera Locate node. For example : IF Finger <=2 then go through the Camera Locate node.
Here is the video of the demonstration :
https://youtu.be/9aJBRiyzgLs
In this post, I am looking to show you how to sort parts using the Robotiq Wrist Camera. The idea here is to use a single Snapshot position (one single calibration) to teach 3 different parts to the vision system. Here are the three parts of the 2F85 gripper assembly that I used for this demonstration:
In this program, I am using 3 variables to control the place positions for each of the 3 parts. The variable associated with the first part on the left is Flange, the variable associated with the part in the middle is Phalanx and the variable associated with the part on the right is Finger. These variables are incremented every time the camera locate node for that given part is executed. This incrementation allows me to tell the robot to place the part in a certain position using IF statements. Since I am using 3 different Camera Locate nodes (1 for each part), the searching phase of the program can be a little long. For this reason, I am using an IF statement to ignore a Camera Locate node if the number of parts in the workspace has already been sorted. In this demonstration, I am using two examples of each part so I know that there are only two parts corresponding to each Camera Locate node. For example : IF Finger <=2 then go through the Camera Locate node.
Here is the video of the demonstration :
https://youtu.be/9aJBRiyzgLs
Here is the program used for this demonstration: Program BeforeStart flange≔0 phalanx≔0 finger≔0 Robot Program MoveJ Snapshot_Position Gripper Open If flange≤2 Camera Locate MoveL Flange_Approach Flange_Pick Gripper Close Flange_Exit Set flange=flange+1 If flange≟1 MoveJ Flange_Place_Approach_1 Flange_Place_1 Gripper Open Flange_Place_Exit_1 ElseIf flange≟2 MoveJ Flange_Place_Approach_2 Flange_Place_2 Gripper Open Flange_Place_Exit_2 MoveJ Snapshot_Position If phalanx≤2 Camera Locate MoveL Phalanx_Approach Phalanx_Pick Gripper Close Phalanx_Exit Set phalanx=phalanx+1 If phalanx≟1 MoveJ Phalanx_Place_Approach_1 Phalanx_Place_1 Gripper Open Phalanx_Place_Exit_1 ElseIf phalanx≟2 MoveJ Phalanx_Place_Approach_2 Phalanx_Place_2 Gripper Open Phalanx_Place_Exit_2 MoveJ Snapshot_Position If finger≤2 Camera Locate MoveL Finger_Approach Finger_Pick Gripper Close Finger_Exit Set finger=finger+1 If finger≟1 MoveJ Finger_Place_Approach_1 Finger_Place_1 Gripper Open Finger_Place_Exit_1 ElseIf finger≟2 MoveJ Finger_Place_Approach_2 Finger_Place_2 Gripper Open Finger_Place_Exit_2 ElseIf finger≟2 and phalanx≟2 and flange≟2 HaltRobotiq Integration Coach
[email protected]
1-418-380-2788, option 3
Product Expert
Robotiq
[email protected]
Thanking you in advance.
Warm Regards,
Lakshmi Prasanna.
Robotiq Integration Coach
[email protected]
1-418-380-2788, option 3
You can use the "Increment Installation variable by one" option that is shown in the second image that you included. Be certain to use an installation variable!
Robotiq Integration Coach
[email protected]
1-418-380-2788, option 3
Is it possible to use while or for loop for your program to run continuous instead of using if statement ?
Do you have any tips or examples of a loop program for this program that you've created ?