Adjust Poses by Offsets

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Function

This Step adjusts the pick points by calculating the pose offset between the cylinders’ poses and the correct tool center points (i.e., the pick points), and outputs the actual poses of the cylinders and the offsets from the poses to the correct pick points.

Usage Scenario

This Step is usually used for picking cylindrical bars that are closely attached to each other end-to-end, preventing two bars from being picked at the same time.

Input and Output

  • Input:

    1. Point clouds containing end-to-end attached cylindrical bars

    2. Robot tool center points that need to be corrected

    3. Length of a cylindrical bar

    4. Cylinder shape information

  • Output:

    1. Poses of cylindrical bars

    2. Offsets of correct pick points relative to calculated poses

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