Many-to-Many Alignment
Description
This Step is used to calculate a list of robot poses for placing multiple objects at multiple target positions in batches based on multiple sets of object and target feature data and the list of current object capture poses.
The object side supports only the Eye-to-Hand camera mounting mode. The target side supports either the Eye-to-Hand or Eye-in-Hand camera mounting mode.
Workflow
The process of configuring this Step is as follows:
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Configure the input. Connect the corresponding Step ports in the graphical programming workspace, or select the corresponding input under Input in the parameter configuration panel.
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Under Calibration Settings, select the object-side and target-side translation calibration files, and add rotation calibration files and set compensation values as needed.
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Under Taught Reference, acquire the object and target base features and set the related taught poses.
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Under Output Settings, set the pose type.
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Under Output, check the output items, and set the Lower Limit and Upper Limit for the output items as needed.
Input Description
| Input Item | Description |
|---|---|
Object Features |
List of positions and angles of the input objects in the image coordinate system. |
Current Object Capture Poses |
List of corresponding real-time robot poses in the machine coordinate system when each object feature is captured. |
Target Features |
List of positions and angles of the input targets in the image coordinate system. |
Current Target Capture Poses |
List of corresponding real-time robot poses in the machine coordinate system when each target feature is captured. This input is required only when the target-side camera mounting mode is Eye-in-Hand, and is used to compensate for the effect of camera position changes on the output poses. |
Parameter Description
Calibration Settings
| Parameter | Description |
|---|---|
Object Translation Calibration File |
Select the object-side translation calibration file used to calculate the position deviation. |
Object Rotation Calibration File |
Select the object-side rotation calibration files used to calculate the angle deviations. Click Add calibration file to add calibration files. You can add up to 16 files. Object Calibration File 1 should be the rotation calibration file of the tool used to acquire the object base feature during teaching. Add calibration files in the input order of object features and current object capture poses. After reordering, the object calibration file placed first is used as the calibration file for teaching. |
Compensation Value |
Corrects the difference between the actual result and the expected result on the object side. You can set compensation values for positions in the X and Y directions and the rotation angle around the Z axis. |
Target Translation Calibration File |
Select the target-side translation calibration file used to calculate the position deviation. |
Target Rotation Calibration File |
Select the target-side rotation calibration files used to calculate the angle deviations. Click Add calibration file to add calibration files. You can add up to 16 files. Determine whether to add target calibration files based on the actual situation. If needed, Target Calibration File 1 should be the rotation calibration file of the tool used to acquire the target base feature during teaching. Add calibration files in the input order of target features and current target capture poses. After reordering, the target calibration file placed first is used as the calibration file for teaching. |
Compensation Value |
Corrects the difference between the actual result and the expected result on the target side. You can set compensation values for positions in the X and Y directions and the rotation angle around the Z axis. |
Taught Reference
| Parameter | Description |
|---|---|
Object Base Feature |
Position and angle of the object in the image coordinate system during teaching. X and Y indicate the position, and RZ indicates the rotation angle around the Z axis. Click Get base feature to open the Base Feature window. The following acquisition methods are available:
|
Object Capture Point X, Y, RZ |
X coordinate, Y coordinate, and rotation angle around the Z axis of the capture pose when the object base feature is acquired during teaching. |
Target Base Feature |
Position and angle of the target in the image coordinate system during teaching. X and Y indicate the position, and RZ indicates the rotation angle around the Z axis. Click Get base feature to open the Base Feature window. The following acquisition methods are available:
|
Taught Place Point X, Y, RZ |
X coordinate, Y coordinate, and rotation angle around the Z axis used when the robot places the object at the target position during teaching. |
Target Capture Point X, Y, RZ |
X coordinate, Y coordinate, and rotation angle around the Z axis of the capture pose when the target base feature is acquired during teaching. These parameters are required only when the target-side camera mounting mode is Eye-in-Hand, and are used to compensate for the effect of camera position changes on the output poses. |
Output Description
| If you select an expandable output item (with ▶ on the left), you must expand it, and then set the Lower Limit and Upper Limit values to determine the acceptable range. If the output value falls within the acceptable range, the measurement item is judged as OK; otherwise, it is judged as NG. |
| Output Item | Description |
|---|---|
Placement Poses |
List of poses for placing each object at each target position after alignment. |
X |
List of X coordinates of the placement poses after alignment in the machine coordinate system. |
Y |
List of Y coordinates of the placement poses after alignment in the machine coordinate system. |
RZ |
List of rotation angles around the Z axis of the placement poses after alignment in the machine coordinate system. |
Troubleshooting
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