Workobjects¶
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 workobject 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.
Picking Relaxation¶
When the robot picks certain workobjects, the picking pose of the robot is allowed to be changed flexibly within a specific angle range, which is the picking relaxation.
Please refer to Picking Relaxation for detailed information.
Solution selection strategy¶
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 sent by Mech-Vision will be defined as the optimal pick point. Assuming that the workobject pose is [0,0,0,15,0,0], and the step around Z-axis of the object is set to 60°, the robot will prioritize to pick the workobject with pose [0,0,0,75,0,0] and [0,0,0,-45,0,0].
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 the to open the Workobject Configuration window.
Enter a Workobject name.
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.
According to the actual situation of the workobject, select Around Y-axis or Around X-axis for the Picking relaxation parameter (can select multiple options), and then set the Attempt range and Step. You do not need to set this parameter if a picking 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 , select the workobject and press the Delete key.
Right-click the workobject under and select Delete in the context menu.
Modify the Workobject¶
Follow either of the following steps to open the Workobject Configuration window.
Go to and double-click the workobject.
Right-click the workobject under and select Workobject Configuration in the context menu.
Modify the parameters according to the actual requirement.
Click OK.