Workobjects

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This section introduces workobjects and how to configure them.

Introduction

Workobjects refer to the objects on which the tool performs tasks, such as cartons, metal parts, parts to be glued or welded, etc.

Rotational Symmetry

A rotational symmetric object will coincide with itself after rotating around its axis of symmetry. Configuring the rotational symmetry of the workobject can prevent the end of the robot from rotating meaninglessly when picking and placing, and therefore the picking success rate can be increased and the planning time can be reduced. Therefore, the robot can move more smoothly and swiftly.

Please refer to Rotational Symmetry of Workobjects for detailed information.

Translational Relaxation

When some objects are picked, the picking pose of the tool is allowed to be translated along the X-axis and Y-axis of the pick point, which is the translational relaxation.

Please refer to Translational Relaxation for detailed information.

Rotational Relaxation

When the robot picks certain workobjects, the picking pose of the robot is allowed to be rotated flexibly within a specific angle range, which is the rotational relaxation.

Please refer to Rotational Relaxation for detailed information.

Solution Selection Strategy

Option	Description
Minimum tool rotation	When this strategy is selected, during the whole pick-and-place process, the workobject pick point that causes the minimum rotation degree of the tool’s Z-axis will be defined as the optimal pick point. This strategy can prevent the tool from rotating in vain after picking the object, and avoid falling the picked object.
Minimum difference between tool and vision pose	When this strategy is selected, the workobject pick point that has the minimum angle of deviation with the workobject pose will be defined as the optimal pick point.
Minimum collision between tool and point cloud	When this strategy is selected, the workobject pick point that leads to the minimum volume of collision between the tool and the workobject point clouds will be defined as the optimal pick point.

Option

Description

Minimum tool rotation

When this strategy is selected, during the whole pick-and-place process, the workobject pick point that causes the minimum rotation degree of the tool’s Z-axis will be defined as the optimal pick point. This strategy can prevent the tool from rotating in vain after picking the object, and avoid falling the picked object.

Minimum difference between tool and vision pose

When this strategy is selected, the workobject pick point that has the minimum angle of deviation with the workobject pose will be defined as the optimal pick point.

Minimum collision between tool and point cloud

When this strategy is selected, the workobject pick point that leads to the minimum volume of collision between the tool and the workobject point clouds will be defined as the optimal pick point.

Workobject Configuration

Add the Workobject

Click the + next to Project resource tree Workobjects to open the Workobject Configuration window.

Enter a Workobject name.

The workobject name should be the same as the name of the “labels” field output by Mech-Vision. You can follow either of the steps below to check the field name set in Mech-Vision:

Check the detailed information of the “Procedure Out” Step in the Log panel, and the content displayed in "labels":["XXX"] is the workobject name.
Double-click the dataflow input to the labels input port of the “Procedure Out” Step, the content in quotes in the Debug Output panel on the right is the workobject name.

(Optional) According to the actual situation of the workobject, select Around Z-axis, Around Y-axis or Around X-axis as the Symmetry type (can select multiple options), and then set the Number of folds and Attempt range. You do not need to set this parameter if the workobject is not rotational symmetric. You do not need to set this parameter if the workobject is not rotational symmetric.
(Optional) According to the actual situation of the workobject, select Around Y-axis or Around X-axis for the Translational relaxation parameter (can select multiple options), and then set the Attempt range and Step. You do not need to set this parameter if a translational relaxation is not applicable.
(Optional) According to the actual situation of the workobject, select Around Y-axis or Around X-axis for the Rotational relaxation parameter (can select multiple options), and then set the Attempt range and Step. You do not need to set this parameter if a rotational relaxation is not applicable.
Select a Solution selection strategy according to the actual requirement.
Click OK.

If you need to add more workobjects, please repeat the above steps.

Delete the Workobject

Follow either of the following steps to delete a workobject.

Go to Resources Workobjects, select the workobject, and press the Delete key.
Right-click the workobject under Resources Workobjects and select Delete in the context menu.

Modify the Workobject

Follow either of the following steps to open the Workobject Configuration window.
- Go to Resources Workobjects and double-click the workobject.
- Right-click the workobject under Resources Workobjects and select Workobject Configuration in the context menu.
Modify the parameters according to the actual requirement.
Click OK.

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