2. PREPARATION
This tutorial requires the following instruments.
Please prepare them in advance.
Instrument Quantity Remark
Robot One  
Personal computer One A personal computer running Windows® used for iRVision teaching.
Camera One A camera used for iRVision.
Lens One A lens to mount to the camera. Prepare an appropriate lens for the size of the field of view (FOV).
EOAT One An end-of-arm tooling that is used when the robot performs tasks.
In this tutorial, a vacuum tool is used for an explanatory purpose.
For the practice, another tool than the vacuum tool can be used.
Calibration grid
*Upper right figure
One A calibration grid for the camera calibration.
Please prepare one whose size covers the entire camera FOV. As long as the large four circles around the center are in the FOV, other circles in the periphery can be outside of the FOV.
Workpiece More than one Workpieces used for practice.
For the workpiece shapes, refer to the description below.
Touch-up pointer
*(1) on the middle right figure
One Used to set the frame of the robot.
Prepare one that can be attached to the robot EOAT.
A touch-up pointer that can be attached without removing the EOAT is preferable.
Touch-up fixture
*(2) on the middle right figure
One Used to set the frame of the robot.
Prepare one that can be fixed to a table, etc.

For workpieces to use in this tutorial, prepare workpieces without irregularities and whose orientations can be identified.
If a suitable workpiece is not available, the workpiece example on the lower right figure can be print out on a piece of paper and be used.

Note that, in this tutorial, the explanation will be provided based on the following conditions: