Picking
The ultimate goal of deploying a 3D vision-guided application is to achieve successful picking. In this phase, you need to build a robot picking workflow so that the robot can pick objects accurately based on vision results.
Depending on the different robot communication modes selected, the way to build the workflow also varies, as shown in the figure below.
Build the Picking Workflow in the Standard Interface Communication Mode
If you have chosen to use the Standard Interface communication mode, you need to write a robot picking program for the robot side so that the robot can perform picking tasks under the vision guidance. Mech-Mind offers Standard Interface example programs for supported robots, and you can refer to those programs to write your robot picking program.
The Standard Interface communication mode can be used in three ways: using Mech-Vision to obtain vision results, using Mech-Vision for path planning, and using Mech-Viz for path planning. The robot picking workflow varies in different ways.
Build the Picking Workflow in the Master-Control Communication Mode
If you have chosen to use the Master-Control communication mode, you can build the robot picking workflow (that is the Mech-Viz project) in a graphical manner in Mech-Viz.
1 Build a Project |
Understand the general process of building a Mech-Viz project. |
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2 Model Preparation |
Please use the Model Editor to create the tool, object, and scene models for the Mech-Viz project, which will be used in 3D simulation and collision detection. |
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3 Configuration of the Project Resources |
Import your object model and configure the object. You can configure attributes such as Workobject symmetry and Picking relaxation to improve the success rate of object picking. |
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Import the tool model and configure the tool. You need to adjust the position and size of the tool model as well as the control logic of the tool. |
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Configure the objects in real scenarios to make the scene in the software closer to the real scenario, which facilitates collision detection and path planning. |
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4 Simulation and Improvement |
Configure the collision detection to prevent the robot from colliding during its movement so that a planned path without collision will be output for the robot. |
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Plan history records the whole process of path planning from Mech-Viz and displays the collision results in a visualized way. You can refer to the fixes for planning failures to troubleshoot. |