It is possible to use Wizar Pallet UR inside Camera Locate?

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Home > Programming > It is possible to use Wizar Pallet UR inside Camera Locate?

Enric 2018-01-11

Hi, Pros!

I'm doing tests with the camera.

One of the challenges is to locate large sized pieces to be able to know the position and orientation.

Here video
Name:UseWizardPalletUR_Inside....

@Tyler_Berryman

1.- At the moment I have been able to know the position of my base to palletize.

But I have a problem ... I can not place the size of 600mm * 340mm (I used 340 * 340), but I must see half of the piece. Why this limitation?

Here video
Name:NotPosible600mm

@Annick_Mottard

2.- The UR Pallet function can not be included in the camera node locate ..

Should I work with SCripts?

@Etienne_Samson
3.- Also I have detected an error with the Polyscopy 3.5.1.1 of UR and the Robotiq URcap V1.2.3

Here video

Name:ErrorWristCameraMovetoSnap....

Thanks in advance

David_Levasseur 2018-01-11

Hello @Enric, The error message you got is caused by the vision URCap and depends on the language of Polyscope. If you set it to English, you will get rid of the issue. This will be fixed shortly with the release of the new vision URCap which will be compatible for all languages.

Tyler_Berryman 2018-01-15

Hello @Enric, the first limitation is designed to limit the part size that can be located using the Wrist Camera. The largest dimension that can be input in the parametric method's user interface is 500mm. I believe that this limitation is to avoid any errors or inaccuracies related to the camera being too far from the work plane or from distortion effects from the outer edge of the field of view.

Concerning the pallet wizard inside the Camera Locate node, I do not think that this is possible. However, I made a program that will allow to have multiple place positions based on the location of the object that is returned by the Wrist Camera:

 Program
   BeforeStart
     parts≔0
   Robot Program
     MoveJ
       Waypoint_1
     Camera Locate
       If parts≟0
         MoveL
           Waypoint_3
           Waypoint_2
           Gripper Open
           Waypoint_3
       If parts≟1
         MoveL
           Waypoint_5
           Waypoint_4
           Gripper Open
           Waypoint_5
       If parts≟2
         MoveL
           Waypoint_7
           Waypoint_6
           Gripper Open
           Waypoint_7
       If parts≟3
         MoveL
           Waypoint_9
           Waypoint_8
           Gripper Open
           Waypoint_9
           Halt
     Set parts=parts+1

The video of the this program is shown in this post : https://dof.robotiq.com/discussion/468/screw-insertion-using-robotiq-camera