Resolution of Wrist Camera from Robotiq is too low

drfraggels 2017-01-13

Hello,
I want to detect a hole where I want to insert a screw. The Problem is the hole is to small -> Object is smaller then one grid cell. I tried getting closer to the hole but then the working space is to small. Does somebody have any hints how to fix this problem? Is it possible to connect any camera with the UR5 or has it to be the wrist camera?

Best Regrads!

Kevin_Matthews 2017-01-12

You can connect any camera to the UR5. I have been using Teledyne Dalsa cameras to locate and verify with the URs for a while now. You can either have them mounted externally or on the end of arm. Communication can be over MODBUS or depending on the information you want to send, Digital I/O.
Heres a link to one of our videos using a wrist mounted Dalsa BOAII camera for part location. With proper lensing, lighting and resolution, you should be able to detect the hole. http://www.youtube.com/watch?v=w7-KGaYGuMA

Annick_Mottard 2017-01-12

@drfraggels I opened a support ticket to know more about your application and setup.

drfraggels 2017-01-19

If I go on the camera Dashboard and switch the Vision server off I can change the parameters of the camera (Troubleshoot) for example brightness and focus, is there any possibility to safe this changes? I tried saving a new Installation file, but if I start the Vision Server again the changes of the camera are gone, if i don´t start the server and just look into troubleshoot again the changes are still there.

Etienne_Samson 2017-01-19

@drfraggels those settings are only for troubleshooting purpose. When the vision systems runs, those settings are automatically adjusted and overwritten, you cannot save them. What are you trying to accomplish ? Any parts challenging you ?

drfraggels 2017-01-23

@Etienne_Samson I want to locate a M3 hole on aluminium parts, the camera should locate the hole pick up a screw and put it in the hole.

Etienne_Samson 2017-01-24

@drfraggels a M3 hole is unfortuneately out of our minimum size specified in the spec sheet. So as of today, this kind of application is not supported.

matthewd92 2017-01-25

We have a couple of UR robots deployed with SICK Inspector PIM60 cameras. SICK also offers a UR+ Cap for the camera that works pretty well if you just need pick and place or to locate a feature in a part. We are actually not using the cap as we wanted to process the images prior to sending them to the robot so we have a RPC server that the robot uses to talk to the cameras.

The cameras can also be connected directly to the robot and communicate over TCP/IP sockets or with hard wired I/O.

Another great thing about the cap is allows you to return up to 16 additional values beyond, X, Y and Rz that can be used for dimensional inspection or anything that you want the camera to return to you so it would be possible to do inspection on the fly