Robotiq camera on a UR5 that can be displaced, how to reduce to minimal camera setup

Sebastien

Hi pros, we are working on an application where we have a Robotiq camera on a UR5. The UR5 has to pick up parts from a table. The table and the robot base are separate units such that the robot can be moved around in the shop. Assuming that the position to which the robot is placed in front of the table can vary +-1/2'' between setups, what are your key advice to avoir reteaching parts and maybe avoid camera calibration? Any ways to have a feature on the table that could easily be taught on the table that would take care of this?

David_Gariepy

Sebastien, 

If the variation is only in x / y there will be no problem as long as the parts remain in the field of view.  If there is a variation in height, you could use the snapshot_position_offset function to compensate. On the other hand, if there are variations in tilt, unfortunately the camera will not be able to compensate.