AI-translated latest Q&A posts' collection (2023/10/28–2023/11/03)

This post compiles the latest questions and answers from the Q&A category translated by AI. The questions were posted between October 28, 2023, and November 3, 2023.
Please note: AI has its limitations, and specific content should still be discerned based on the actual context.

Quaternion Calculation Error

1. Q1 (2023/10/28)

After matching the 3D pose precisely and converting it to the hand-eye reference frame, the calculated quaternion is -q, making the robot unreachable. What is the reason for this quaternion calculation error? How can it be avoided? Has the new version of the software fixed this issue, or is it a user error?

Software Version: 1.5.1.

1. A1 (2023/10/30)

Hello, the reason for unreachability needs to be thoroughly investigated and cannot simply be attributed to the quaternion being incorrect. Could you provide more detailed information for troubleshooting? It is possible that the object pose was not transformed into the tool pose. Visual calculations are performed on the object pose, but the robot requires the tool pose.

For a detailed explanation of object pose and tool pose, you can refer to: Brief Introduction to the Concepts of 3D Vision System: Base Reference Frame (aka. Coordinate System).

1. Q2 (2023/10/30)

In Mech-Vision, I converted the 3D matching results from the sensor reference frame to the robot’s base coordinate system through the Step “Pose Adjustment Collection”.

The visual calculation results are correct in this case, and only a reference frame transformation (from the camera to the robot) causes the quaternion in the results to become the opposite value, i.e., -q.

So, does this mean that the final input to the robot should be the pose in the robot’s end flange reference frame?

1. A2 (2023/10/30)

You can check if there are any other operations within the Step “Pose Adjustment Collection” step. Alternatively, you can directly use the Step “Transform Poses” to replace this Step.

After transforming the pose into the robot’s reference frame, you will also need to use Mech-Center to convert the object pose into the tool pose, which the robot can then use.

Inputting Mech-Vision’s results directly into the teach pendant is incorrect. You can try establishing a complete communication process. If the recognition is working correctly, the pose obtained through a full communication process is the one the robot can use.

Robot Communication Results in Mech-Center Reporting an E-Level Error

2. Q (2023/10/30)

Following the robot communication connection, Mech-Center reports an E-level error.

  • Software Version: Mech-Center 1.7.3
  • Robot Model: ABB6700
  • Log for the day:
  • Adapter Project and Mech-Viz Project:

2. A (2023/11/02)


Simply remove the four lines of code in the two images above to resolve the issue.

How to Export Model Files with the Extension .dlkpackC in Mech-DLK

3. Q (2023/11/02)

Software Version: Mech-DLK 2.3.0, Mech-Vision 1.6.2.
After training, when exporting a model, it has the extension .dlkpack.
When importing Mech-Vision deep learning models, only the .dlkpackC extension is software selectable.
How can you export a model file with the extension .dlkpackC in Mech-DLK?

3. A1 (2023/11/02)

If you wish to export a model with the .dlkpackC extension in Mech-Vision 1.6 for CPU inference, you can do the following:

  1. Use Mech-DLK version 2.3 for the export.
  2. In the parameter configuration, select “CPU” as the deployment device.
  3. Confirm the selection to export a CPU model.
    image

Model Missing: ‘modelfile’

4. Q (2023/11/03)

  • Software Version: Mech-Vision 1.7.4, Mech-Viz 1.7.4, and Mech-Center 1.7.3.
  • Issue Description: Mech-Center reports an error of ‘E’ level — “Model File Missing: ‘modelfile’”
  • Methods Attempted or Investigation Details: Checked the adapter.
  • P2100.7z (9.0 KB)

4. A (2023/11/03)

You can try modifying the parameter names. In the context of 3D matching, the parameter names corresponding to the model file and the geometric center point file are: modelFileName and geoCenterFileName.

How to determine whether to use standard interfaces or adapter generators when communicating with robots

5. Q (2023/11/03)

How do you determine whether it is better to use standard interfaces or geometric generators when communicating with a robot? For example, when communicating with flanges using TCP, collision detection is required. Is this a situation where using an adapter generator for communication is the better choice?

5. A (2023/11/03)

Hello, the choice of communication method depends on the actual requirements in the field. Before deciding, you should understand what functions the standard interface can provide, and you can refer to Mech-Mind Documentation for specific functionalities.

In general, you should determine whether the standard interface can meet the on-site requirements based on whether it provides programs for the robot or PLC side and whether its functionalities cover the on-site needs. If it is determined that the standard interface does not meet the on-site requirements, then you can use an adapter for communication.

Mech-Vision Software Freezes

6. Q1 (2023/11/03)

  • Software Version: Mech-Vision 1.7.2
  • Issue Description: Enabling “Debug Output” and running the algorithm leads to freezing. Closing debug output results in normal operation. This issue has not occurred before and just started today.
  • Troubleshooting Steps Taken or Checked: Restarted Mech-Center and the computer, but the issue persists.
  • Computer Specifications:
    • Processor: Intel(R) Core™ i7-8700 CPU @ 3.20GHz 3.19GHz
    • Installed RAM: 16.0 GB
    • System Type: 64-bit Operating System, x64-based processor
    • Windows Version: Windows 10 Professional
    • Windows Version Number: 22H2
    • Operating System Build: 19045.3570

Additionally, before the problem occurred, I removed the monitor for use elsewhere. After reconnecting the monitor, the program ran without issues. Does this imply that “Debug Output” requires a monitor to be connected?

6. A1 (2023/11/03)

Hello, does this computer have a dedicated graphics card?

Based on your description, can I understand it this way:

  1. When the issue occurs, are you using the remote desktop provided by Microsoft to control the remote computer with anomalies?
  2. After connecting a monitor, does the issue disappear?

From the description, it seems to be related to the graphics card settings. You can refer to the following document to try resolving it: Failure to Open OpenGL Windows due to Problematic Graphics Setting.

If the issue persists, please contact our technical support for remote assistance in troubleshooting and resolution.

6. Q2 (2023/11/06)

  1. It has a dedicated graphics card.
  2. The local machine uses Sunflower remote connection to the server.
  3. After connecting a monitor to the server, debugging output is possible.

Final situation:
After connecting the industrial control computer to a monitor, debugging output can be used normally. The issue has been resolved.