Add Pick Point

The robot needs a picking pose provided by Mech-Vision to actually perform the picking. The picking pose is transformed from the pick point on the target object. Therefore, pick points need to be added to point cloud models, so that Mech-Vision can generate pick points for target objects through matching, and further output picking poses for the robot.

Note

  • Mech-Vision’s algorithm requires one and only one “geometric center” for every point cloud model.

  • The first pick point you add will be automatically set as the geometric center.

  • The geometric center can be a pick point at the same time.

There are two ways for you to add pick points in Matching Model and Pick Point Editor:

  • icon9 Add pick point:

    • Directly add and adjust a pick point in Matching Model and Pick Point Editor

    • Select a point cloud model first to enable this button

  • icon10 Add pick point by teaching:

    • Adjust the robot pose manually through the teach pendant and obtain the pick point. Used in cases that require high picking accuracy or where TCP measurement is difficult

    • Add the pick point first, and then generate the point cloud model through image acquisition by the camera