Configure Pick Points in Scenarios That Do Not Require Matching
In this workflow, you can configure pick points, picking strategies, and collision models. This workflow is suitable for carton or sack palletizing and depalletizing scenarios where matching is not required for recognition.
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Once this workflow is selected, only one target object can be created, and other workflows in the same solution will be disabled. |
In the homepage of the target object editor, click Select under the Recognize without Matching workflow to enter the configuration process. The overall configuration process is shown in the figure below.
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Set pick point: Adjust the pick point or add an pick point array.
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Set collision model (optional): Generate the collision model for collision detection during path planning.
The following sections provide detailed instructions on the configuration.
Set Pick Point
Adjust Pick Point
By default, the pick point list displays the added pick points, the origin of which is the object center point. Changing the object center point will influence the pick points.
If you need to adjust the pick point, for example, delete and hide it, you can hover the cursor over the ? icon to the right of Pick point list to view the instructions. You can also set relevant values under Pick point settings, or drag the pick point to an appropriate position in the visualization area on the left.
Set Pick Point Array
When the target object is symmetrical, you can set the pick point array based on the object center point according to actual needs. Setting the pick point array can prevent the robot’s end tool from unnecessary rotations during picking. 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. The procedures for setting are as follows.
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Under “Pick point settings’, click Generate next to Pick point array.
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Refer to Rotational Symmetry of Target Objects to select the axis of symmetry, and then set the Order of symmetry and Angle range.
Add Picking Configuration
If a tool has been configured in the “Path Planning” Step or Mech-Viz, you can enable the tool in the tool list to preview the relative position between the tool and the pick point. Once the tool is enabled, you can preview the relative position between the tool and the pick point, helping to determine if the pick point is set appropriately.
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If you have modified the tool configurations in the “Path Planning” Step or Mech-Viz, save the changes to update the tool list. |
Now you can click Save to save the configurations for the target object. To set the collision model, click Next.
Set Collision Model (Optional)
The collision model is a 3D virtual object used in collision detection for path planning. You can configure the following settings on the collision model according to the actual situation.
Select Collision Model Generating Mode
The tool automatically recommends the collision model generating mode based on the current configuration workflow. The recommended mode for this case is Use common 3D shape. A collision model will be generated based on the selected common 3D shape for collision detection. Collision models generated by this method have low accuracy. However, the collision detection speed can be fast.
Create common 3D shape
Create a common 3D shape based on the actual shape of the target object and set its dimensions. The created common 3D shape will be used for collision detection.
Configure Symmetry of Held Target Object
Refer to Rotational Symmetry of Target Objects to select the axis of symmetry, and then set the Order of symmetry and Angle range.
Now, the collision model settings are completed. Click Save to save the target object to Solution folder\resource\workobject_library. Then the target object can be used in subsequent matching Steps.