Target Object

This section introduces target objects and the configuration of the target object editor.

Introduction

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

Rotational Symmetry

Rotational symmetry is the property of the target object that allows it to coincide with itself after rotating a certain angle around its axis of symmetry.

When the Waypoint type is Target object pose, configuring the rotational symmetry can prevent the robot’s tool from unnecessary rotations while handling the target object. This increases the success rate of path planning and reduces the time required for path planning, allowing the robot to move more smoothly and swiftly.

Please refer to Rotational Symmetry for detailed information.

Translational Relaxation

When some target objects are picked, the picking pose of the tool is allowed to be translated along the X-axis or 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 target objects, 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.

Usage Instructions

Create a Target Object

If you need to use the target object editor, the Mech-Viz project must belong to a solution. If you need to convert a project to a solution, please refer to Project and Solution.

Click on the right to the Target objects in the project resource tree to open the target object editor.
Refer to Quick Guide to Target Object Editor to create target objects and configure pick points.
After adding and saving a target object in the target object editor, its name will be displayed below Target objects in the project resource tree. If you need to add more target objects, please repeat the above steps.

Modify the Configured Target Object

All modifications to the configured target objects (such as deleting target objects, editing pick points, and configuring target object symmetry) must be conducted in the target object editor. The target object editor can be opened using any of the following three methods.

Right-click the name of the target object, and click the Target object editor.
Click on the right to the Target objects in the project resource tree.
Double-click the target object name in the project resource tree.

To delete a target object, right-click the name of the target object and select Delete.

Specify the Target Object to be Picked in the Solution

On the Mech-Vision side: Open the Mech-Vision project for target object recognition, and select the target object configured in the target object editor in the 3D Matching Step or the 3D Target Object Recognition Step.

On the Mech-Viz side: Select relevant vision service in the Vision Move Step or Classify Step (if used) in the Mech-Viz project.