Fit Pose from Feature Points
Function Description
This step calculates the overall optimal pose of a workpiece by best fitting multiple real-time feature points on the workpiece with template feature points, improving adaptability in deformation scenarios.
Usage Scenario
This step is suitable for scenarios where multi-feature-point workpieces have recognition errors caused by deformation during loading or unloading, such as multi-hook loading, unloading into bins, and windshield assembly.
This step can be directly connected to the Output step to send poses for subsequent tasks.
Input and Output
Input
| Input Port | Data Type | Description |
|---|---|---|
Taught Tool Pose |
Pose[] |
Tool poses obtained on the template workpiece using the teaching method. These poses are TCP values in the robot coordinate system read from the teach pendant. |
Real-Time Feature Points |
Pose[] |
Multiple feature points recognized in the current scene, which must correspond one-to-one with template feature points in order. |
Template Feature Points |
Pose[] |
Multiple feature points on the template workpiece. |
Output
| Output Port | Data Type | Description |
|---|---|---|
Transformed Workpiece Pose |
Pose |
Workpiece pose output by rotating and transforming the input taught tool poses, combined with multi-feature-point fitting. |
Deformation Judgment Result |
Bool |
Used to determine whether the maximum distance (that is, maximum deformation) between all transformed real-time feature points and corresponding template feature points after best fitting is within the threshold. If maximum deformation does not exceed the threshold, output is |
Parameter Description
| Parameter | Description |
|---|---|
Pose Display Setting |
Description: Used to set the pose display type. Value list: Show Template Feature Points Only, Show Transformed Real-Time Feature Points Only Default value: Show Template Feature Points Only |
Feature Point Deformation Over-Limit Threshold |
Description: Sets the maximum allowed distance (that is, maximum deformation) between transformed real-time feature points on the workpiece and corresponding template feature points after best fitting. When maximum feature-point deformation exceeds this threshold, the output port Default value: 5.00 mm |