- \n
- Large and small calibration plates are both used to create a workspace during fixed positioning. If any of the calibration plates is > 30 km away from the camera, causing the camera to produce a low-resolution image of the plate, then the plate cannot be clearly identified. This prevents the user from calibrating the workspace correctly.<\/li>\n
- Object-based calibration is applicable to the eye-in-hand (EIH) setup only, which employs the difference in the robot servoing movement to calculate the relative relationship between the object and the TM Robot, eliminating the need to create a workspace.<\/li>\n
- An object for calibration that has a definite shape and lacks symmetry is easier to position accurately.<\/li>\n
- <\/li>\n<\/ul>\n
Causes of failure to create a workspace<\/h1>\n
- \n
- The working distance is > 30 cm.<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/\u7269\u4ef6\u6821\u6b63SOP.png\")
<\/a><\/p>\n- \n
- If the camera\u2019s resolutions are set to 1280\u00d7920, it produces low-resolution images.<\/li>\n
- If the TM Robot cannot find all points on the calibration plate, click the video link below to check out how this problem can be solved through object-based calibration.<\/li>\n<\/ul>\n
Video 1<\/a><\/p>\n
Tilt correction<\/h1>\n
- \n
- Setup:\n
- \n
- If the working distance is large, the TM Robot cannot find the calibration plate when calibrating a workspace.<\/li>\n
- In this case, manipulate the robot to a distance where it can find the calibration plate.<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/\u7269\u4ef6\u6821\u6b63SOP1.png\")
<\/a><\/p>\n- \n
- Create a vision job<\/li>\n
- Select the EIH 2D camera of the robot<\/li>\n
- \n
- \n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u5716\u72474-1.png\")
<\/a><\/li>\n<\/ul>\n<\/li>\n- Open Camera Kit<\/strong>.<\/li>\n
- Set the camera\u2019s parameters and select an appropriate focus value.<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u5716\u72475.png\")
<\/a><\/p>\n- \n
- \n
- \n
- Click Tilt Correction<\/strong>
\n![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u5716\u72476.png\")
<\/a><\/li>\n<\/ul>\n<\/li>\n- Enter the UI for Tilt Correction<\/li>\n
- Make sure the camera and the workspace are aligned<\/li>\n
- Execute tilt correction using a supplied calibration plate.<\/li>\n
- Select TM-Board<\/strong> and click Auto-Tilt<\/strong>.<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u5716\u72477.png\")
<\/a><\/p>\n- \n
- Lifting the robot to the working distance<\/li>\n
- Manipulate the robot along the z-axis direction of the tool base to the working distance.
\n![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u5716\u72478.png\")
<\/a><\/li>\n<\/ul>\nEditing the vision flow<\/h1>\n
- \n
- Select Object-based Cali.<\/strong><\/li>\n
- Enter the editing process for the vision flow.<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u5716\u72479.png\")
<\/a><\/p>\n- \n
- Pattern matching(shape)\n
- \n
- Click Find<\/strong> > Pattern Matching(shape)<\/strong>.<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u5716\u724710.png\")
<\/a><\/p>\n- \n
- \n
- \n
- \n
- \n
- Place distinguishable and target objects at the same height as the same workspace.<\/li>\n
- The distinguishable object should be matched with objects with visible shapes; the features obtained through this matching are directional.<\/li>\n
- The example below displays a magnified TM Landmark as a distinguishable object.<\/li>\n<\/ul>\n<\/li>\n
- <\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u5716\u724711.png\")
<\/a><\/p>\n- \n
- \n
- \n
- \n
- \n
- Acquire the edges of TM Landmark and the characters printed on the landmark, and ensure its directionality.<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n
- Calibration\n
- \n
- Finish the Find process and go to Calibration<\/strong>.<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u5716\u724712-1.png\")
<\/a><\/p>\n- \n
- \n
- \n
- \n
- \n
- Select an appropriate movement range.<\/li>\n
- If the movement range is too small, the system may send a warning \u201cOver the servoing limit.\u201d<\/li>\n
- After the settings are completed, move the TM Robot to its initial position. Then click Start Calibration<\/strong>.<\/li>\n
- The robot moves to five different positions during calibration.<\/li>\n
- Hold the + button on the robot stick until the calibration is finished. This prevents the robot from colliding with any obstacles while on the move.<\/li>\n
- If the features matched are not clear enough, the yellow-colored scope of the actual object sampled becomes inaccurate, as shown in the image below. In this case, make necessary changes in the Find module.<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u5716\u724713.png\")
<\/a><\/p>\n- \n
- Acquire the object\u2019s base\n
- \n
- After the vision flow is edited, execute the flow to obtain the robot base relative to the object\u2014that is, the workspace of the target object.<\/li>\n
- Go back to the Find module, check the target object, and edit the flow for the object.<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
Troubleshooting<\/h1>\n
- \n
- \n
- \n
- Issue:\n
- \n
- If the TM Robot keeps failing to match an object\u2019s features while it is servoing the object during calibration, a dialog box will appear as follows:<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u5716\u724714.png\")
<\/a><\/p>\n- \n
- \n
- \n
- Solutions:\n
- \n
- Check whether the features matched are too sophisticated. Then go back to the Pattern Matching process and remove any feature that is difficult to match on the pattern matched.<\/li>\n
- Use an Enhance module to make any to-be-matched feature more visible and easier to find.<\/li>\n
- Set a lower score in the Find module. If the pattern is symmetrical, impose a limit on the angle for finding the pattern.<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
Demo with cardboard<\/h1>\n
<\/p>\n
- \n
- Setup:\n
- \n
- Object-based calibration is performed using the logo \u201cTMROBOT<\/sub>\u201d printed on the top of a piece of cardboard. Then a flow is edited in ways that manipulate the TM Robot to use a suction nozzle to pick up the cardboard.<\/li>\n<\/ul>\n<\/li>\n
- Tools:\n
- \n
- Cardboard with a \u201cTMROBOT<\/sub>\u201d logo printed on it
\n![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u5716\u724715.jpg\")
<\/a><\/li>\n- ROBOTIQ Epick Gripper
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u5716\u724716.png\")
<\/a><\/li>\n<\/ul>\n<\/li>\n- Workspace\n
- \n
- Decide the distance between the camera and cardboard<\/li>\n
- The distance between the camera and cardboard is about 40 cm.<\/li>\n
- The workspace cannot be calibrated through fixed positioning.\n
- \n
- Execute object-based calibration to obtain the position of the cardboard<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n
- <\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/\u7269\u4ef6\u6821\u6b63SOP2.png\")
<\/a><\/p>\n- \n
- Editing the vision flow\n
- \n
- Open Camera Kit\n
- \n
- Set the camera\u2019s parameters and focus.<\/li>\n
- Place a calibration plate and do tilt correction.<\/li>\n<\/ul>\n<\/li>\n
- Select Pattern Matching(shape)<\/strong>.\n
- \n
- Circle the TMROBOT<\/sub> logo at the center of the cardboard and the shape of the cardboard.<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u5716\u724719.png\")
<\/a><\/p>\n- \n
- \n
- \n
- \n
- \n
- Do calibration\n
- \n
- Set the movement range.<\/li>\n
- Start calibration.<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u5716\u724720.png\")
<\/a><\/p>\n- \n
- Editing the flow\n
- \n
- Use a vision job to find the cardboard.<\/li>\n
- Teach the robot where to pick up the cardboard and install a suction nozzle for the robot to fetch the object.<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u5716\u724721.png\")
<\/a><\/p>\n- \n
- Results\n
- \n
- The robot finds the cardboard and arrives at its center.<\/li>\n
- The robot uses the suction nozzle to pick up the cardboard.<\/li>\n<\/ul>\n<\/li>\n
- Demo Video<\/a><\/li>\n<\/ul>\n
Demo with SSDs<\/h1>\n
- \n
- Setup:\n
- \n
- Several SSD are placed on their respective trays, object-based calibration performed using the words printed on the top of the SSDs and the shape of the drives, and the TM Robot is manipulated to use a suction nozzle to pick up the drives.<\/li>\n<\/ul>\n<\/li>\n
- Tools:\n
- \n
- SSD
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u5716\u724722.png\")
<\/a><\/li>\n- ROBOTIQ Epick Gripper
\n<\/a><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/p>\n
- \n
- Workspace\n
- \n
- Set up a workspace for the SSDs.<\/li>\n
- The distance between the camera and trays is about 50 cm, so the trays can be entirely seen by the camera.<\/li>\n
- The workspace cannot be calibrated through fixed positioning.\n
- \n
- Execute object-based calibration to obtain the positions of the SSDs.<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
<\/p>\n
<\/p>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/\u7269\u4ef6\u6821\u6b63SOP3.png\")
<\/a><\/p>\n- \n
- Editing the vision flow\n
- \n
- Open Camera Kit\n
- \n
- Set the camera\u2019s parameters and focus.<\/li>\n
- Place a calibration plate and execute tilt correction.<\/li>\n
- Use an Enhance module to make the SSDs more identifiable.<\/li>\n
- Use Pattern Matching(shape)<\/strong> to circle the words printed on their center and the shape of the drives.<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
![\"\"](\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u5716\u724725.png\")
<\/a><\/p>\n<\/p>\n
- \n
- Do calibration\n
- \n
- Set the movement range<\/li>\n
- Start calibration<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
- Do calibration\n
- Open Camera Kit\n
- Editing the vision flow\n
- Execute object-based calibration to obtain the positions of the SSDs.<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
- ROBOTIQ Epick Gripper
- SSD
- Setup:\n
- Results\n
- Editing the flow\n
- Do calibration\n
- \n
- \n
- Circle the TMROBOT<\/sub> logo at the center of the cardboard and the shape of the cardboard.<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
- Open Camera Kit\n
- Editing the vision flow\n
- ROBOTIQ Epick Gripper
- Tools:\n
- Object-based calibration is performed using the logo \u201cTMROBOT<\/sub>\u201d printed on the top of a piece of cardboard. Then a flow is edited in ways that manipulate the TM Robot to use a suction nozzle to pick up the cardboard.<\/li>\n<\/ul>\n<\/li>\n
- Setup:\n
- Solutions:\n
- \n
- If the TM Robot keeps failing to match an object\u2019s features while it is servoing the object during calibration, a dialog box will appear as follows:<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
- Issue:\n
- \n
- \n
- \n
- Finish the Find process and go to Calibration<\/strong>.<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
- \n
- \n
- \n
- \n
- Click Find<\/strong> > Pattern Matching(shape)<\/strong>.<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
- Enter the editing process for the vision flow.<\/li>\n<\/ul>\n
- Select Object-based Cali.<\/strong><\/li>\n
- Click Tilt Correction<\/strong>
- Open Camera Kit<\/strong>.<\/li>\n
- Setup:\n
- The working distance is > 30 cm.<\/li>\n<\/ul>\n