Vision Move (Trajectory)

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Function

Plan the robot trajectory based on the vision results returned from the vision project. Applicable to scenarios such as gluing and grinding.

Exit Port Description

Succeed

Trajectory planning succeeded.

Plan failure

Trajectory planning failed.

Other failure

Before planning starts, the Vision Move has no data available for planning. Including but not limited to: Mech-Vision did not output trajectory results; Mech-Vision output trajectory results, but no trajectories met the conditions.

Parameter Description

Move-Type Step Common Parameters

Parameter Description

Send Waypoint

Selected by default, i.e., send the current waypoint to the receiver, such as the robot. When deselected, the current waypoint will not be sent, but it will still be part of the planned path.

Point Cloud Collision Detection Mode

Usually, select Auto mode, which directly applies the point cloud collision detection settings from the Collision Detection panel.

  • Auto: When point cloud collision detection is enabled in the Collision Detection panel, only the point cloud collisions of the "Vision Move (Trajectory)" Step and the "Relative Move" Steps that depend on the "Vision Move (Trajectory)" Step are checked. Other move-type Steps are not checked.

  • Do not check collision: Do not check point cloud collisions for all move-type Steps.

  • Check collision: Check point cloud collisions for all move-type Steps.

Plan Failure Out Port

When this parameter is selected, a plan failure exit will be added to the Step.

  • If the path planning of the current Step succeeds, the workflow continues along the succeed exit.

  • If the path planning of the current Step fails, the workflow continues along the plan failure exit.

  • If the same plan history entry contains multiple move-type Steps with plan failure exits, the workflow continues along the plan failure exit of the first move-type Step.

Vision Project

Select the required Mech-Vision project for trajectory recognition.

Trajectory Settings

Parameter Description

Trajectory Source

Select the source of the trajectories to determine which trajectories from the vision results are used for trajectory planning. The following options are supported:

  • Use all trajectories: Use all trajectories in the vision results.

  • Use trajectories from selected target object: Select a trajectory-type target object that has been configured in the target object editor, and use all trajectories of the selected target object.

  • Use specified trajectory: First select a trajectory-type target object that has been configured in the target object editor, and then select one or more trajectories under that target object.

Select Target Object

Appears when the Trajectory Source is set to "Use trajectories from selected target object" or "Use specified trajectory". Select a trajectory-type target object that has been configured in the target object editor.

Edit Trajectory

Open the editor to manage and edit the trajectory configuration in the target object editor. For the detailed procedure, see Edit Trajectory Workflow.

Select Trajectory

Appears when the Trajectory Source is set to "Use specified trajectory". After a target object is selected, select the trajectories to use under that target object. Multiple selections are supported.

Show Trajectory Point Axes

When enabled, the axes of trajectory points are displayed in the visualization area.

Apply Tool from Target Object

When enabled, it automatically switches from the current tool to the tool enabled in the target object editor.

Approach and Departure Settings

Enable

When enabled, auxiliary waypoints can be added before and after the trajectory to provide smoother transitions and improve operational safety. When this option is disabled, the following sub-parameters are not available.

Safe Point

The following parameters are used to set the safe waypoint before the trajectory:

Parameter Description

Acceleration

The acceleration of the robot tool when moving from the previous waypoint to the safe point.

Velocity

The velocity of the robot tool when moving from the previous waypoint to the safe point.

Blend Radius

The blend radius when the robot tool moves from the previous waypoint to the safe point, used to control trajectory smoothness.

Reference Frame

The reference frame used for the safe point.
Value list: Tool frame, Robot frame

Z Offset

The offset along the Z-axis for the safe point relative to the reference frame, used to raise the robot tool to a safe height.

Approach Point

The following parameters are used to set the auxiliary waypoint closer to the trajectory start point:

Parameter Description

Acceleration

The acceleration of the robot tool when moving from the previous waypoint to the approach point.

Velocity

The velocity of the robot tool when moving from the previous waypoint to the approach point.

Blend Radius

The blend radius when the robot tool moves from the previous waypoint to the approach point, used to control trajectory smoothness.

Reference Frame

The reference frame used for the approach point.
Value list: Tool frame, Robot frame

Z Offset

The offset along the Z-axis for the approach point relative to the reference frame, used to raise the robot tool to a safe height.

Departure Point

The following parameters are used to set the auxiliary waypoint after the trajectory:

Parameter Description

Acceleration

The acceleration of the robot tool when moving from the previous waypoint to the departure point.

Velocity

The velocity of the robot tool when moving from the previous waypoint to the departure point.

Blend Radius

The blend radius when the robot tool moves from the previous waypoint to the departure point, used to control trajectory smoothness.

Reference Frame

The reference frame used for the departure point.
Value list: Tool frame, Robot frame

Z Offset

The offset along the Z-axis for the departure point relative to the reference frame, used to raise the robot tool to a safe height.

Apply to Start and End Only

When enabled, the above parameters are applied only to the first point and last point of the entire trajectory. If the trajectory contains multiple segments, this refers to the start point of the first segment and the end point of the last segment, not the start and end points of each segment.

Lead-In and Lead-Out Settings

Enable

When enabled, lead-in and lead-out motions are added at the trajectory start and end to ensure smooth transitions. Applicable to scenarios requiring high trajectory continuity, such as gluing and grinding. When this option is disabled, the following sub-parameters are not available.

Lead-In Settings

The following parameters are used to set how the robot enters the trajectory:

Parameter Description

Lead-In Direction

Specify the approach direction of the robot tool when entering the trajectory.
Value list: Tangential, Perpendicular

Lead-In Offset

The offset distance relative to the trajectory start point before the robot tool enters the trajectory.

Lead-In Height

The lift or drop height of the robot tool before entering the trajectory.

Lead-Out Settings

The following parameters are used to set how the robot leaves the trajectory:

Parameter Description

Use Lead-In Settings

When enabled, the lead-in settings will also be applied to lead-out.

Lead-Out Direction

Specify the exit direction of the robot tool when leaving the trajectory.
Value list: Tangential, Perpendicular

Lead-Out Offset

The offset distance relative to the trajectory end point after the robot tool leaves the trajectory.

Lead-Out Height

The lift or drop height of the robot tool after leaving the trajectory.

Apply to Start and End Only

When enabled, the above parameters are applied only to the first point and last point of the entire trajectory. If the trajectory contains multiple segments, this refers to the start point of the first segment and the end point of the last segment, not the start and end points of each segment.

Start-End Overlap Settings

Parameter Description

Overlap Distance

In a closed trajectory, to ensure the process is fully applied at the trajectory closure and avoid gaps or insufficient processing at the start-end junction, the start and end points are appropriately extended:

  • If the start and end points do not coincide, the start point is extended into the trajectory by a specified distance toward the end point, and the end point is extended beyond the trajectory by a specified distance toward the start point to ensure a smooth transition.

  • If the start and end points coincide, the start point is extended into the trajectory by a specified distance in the direction of the second-to-last point, and the end point is extended beyond the trajectory by a specified distance in the direction of the second point.

Basic move settings

Parameter Description

Velocity & Acceleration

The velocity and acceleration parameters determine the speed at which the robot operates. Generally, the acceleration parameter should be lower than the velocity parameter. When the acceleration parameter is higher than the velocity parameter, the robot motion may become uncoordinated.

To ensure operational stability, it is recommended to set the motion velocity of the Vision Move (Trajectory) Step and the Steps before and after it to lower values.

Blend Radius

Usually, the default setting can be used.

  • The blend radius refers to the distance between the target point and the point where the robot starts to turn. The larger the blend radius, the more smoother the robot motion transitions are. If the robot moves in a relatively small space, please set the blend radius to a smaller value.

  • If the robot moves in a relatively large space without obstacles and the distance between two path segments is long, you can increase the blend radius to make the robot motion transitions smoother.

Target Object Preview Settings

Parameter Description

Align Target Object Pose to Vision Result

You can manually adjust the target object pose, or click the Align target object pose to vision result button to align the target object pose to the current vision recognition result.

Edit Trajectory Workflow

  1. In "Trajectory Source", select "Use trajectories from selected target object" or "Use specified trajectory", and complete the target object selection.

  2. Click Open the editor to enter the trajectory editor.

  3. In the "Target Object Settings" area, switch to the target object whose trajectory you want to edit via the "Switch Target Object" drop-down list.

  4. Complete the trajectory adjustments in the "Trajectory list" and "Parameter settings" areas. For creating and adjusting trajectories, refer to the relevant content on manually creating and adjusting trajectories in Set Trajectory.

  5. Click "Check points" to verify the reachability of trajectory points, so as to identify unreachable trajectory points in advance and make adjustments.

  6. Click "Apply" to save the editing results and return to the Step parameter interface.

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