Welcome to the learning guidance for “bin picking of random parts” applications.
This guidance provides you all the learning materials for implementing vision-guided robotic picking of random parts.
First, you can learn how to deploy a part picking application by referring to Bin Picking Tutorials (Master-Control Communication). Next, you can find the needed videos and documents on this page according to your robot brand, camera mounting mode, and communication mode.
If you have not yet determined the camera mounting mode and communication mode, please refer to Guidance of Docs and Tutorials.
Choose the camera model
Recommended camera model: Mech-Eye LSR L
Technical specifications: Mech-Eye LSR L
Set up the hardware of vision system
Recommended camera mounting mode: eye to hand (ETH)
Note: ETH here means that the camera is mounted on a fixed mounting frame.
| Camera mounting mode | Hardware setup tutorial | Camera cable information |
|---|---|---|
| Eye to hand (ETH) | How-to video: Vision System Hardware Setup How-to guide: Vision System Hardware Setup |
Camera cable features (to be added) |
| Guidelines for mounting camera cables (login is required) |
Set up communication with the robot
Perform hand-eye calibration
| Camera mounting mode | |||
|---|---|---|---|
| Eye to hand (ETH) | Eye to eye (ETE) | ||
| Automatic calibration for 6-axis robots (Master-Control communication) | How-to video: Hand-Eye Calibration in ETH Setup (Master-Control Communication) How-to guide: Hand-Eye Calibration in ETH Setup |
How-to video: coming soon How-to guide: Hand-Eye Calibration in ETE Setup |
|
| Automatic calibration for 6-axis robots (Standard Interface communication) | How-to video: Hand-Eye Calibration in ETH Setup (Standard Interface Communication) How-to guide: Hand-Eye Calibration in ETH Setup |
||
| Manual calibration (using multiple random calibration board poses method) | How-to video: coming soon How-to guide: Manual Hand-Eye Calibration in ETH Setup |
Configure vision project
| Application scenario | Camera parameter adjustment | Vision recognition | Common issues in implementation | Extended requirements |
|---|---|---|---|---|
| Chain link picking | Coming soon | Coming soon | A different method used to make the point cloud model | Save data |
| Ring picking | Coming soon | Coming soon | Gripper model in a different format | More content to be added… |
Perform picking
| Master-Control communication | Standard Interface communication | Common issues in implementation |
|---|---|---|
| Use Mech-Viz to control robot motion | Use Mech-Vision for vision recognition and get vision points from it | A different communication protocol used by the robot |
| Use Mech-Vision for path planning and get the planned path from it (supported in V1.8.0) | A different data format used by the robot | |
| Use Mech-Viz for path planning and get the planned path from it | Robot not adapted to the vision system yet | |
| More content to be added… |
Troubleshooting
| Camera-related issues | Vision-related issues | Communication-related issues |
|---|---|---|
| Camera cannot be connected (login is required) | Common issues in chain link picking application scenarios | Summary of robot communication issues (to be added) |
| How to determine whether the exposure is proper (login is required) | Common issues in ring picking application scenarios |
Application expansions
Make the point cloud model
Train and fine-tune the deep learning model
Adjust the orientation and sorting of workpieces
How-to topic for pose editor (coming in V1.8.0)
Make the gripper model in OBJ format
How-to topic for model editor (coming in V1.8.0)
Set the tool and workobject symmetry
Rotational Symmetry of the Tool
Rotational Symmetry of the Workobject
Configure collision detection
Collision Detection Introduction and Configuration
Save data
How-to video: coming soon
How-to guide: Save Data