Instrument | Quantity | Remark |
---|---|---|
Robot | One | |
Personal computer | One | A personal computer running Windows® used for iRVision teaching. |
Camera | One | A camera used for iRVision. |
Adapter to attach the camera | One | A adapter to attach the camera at the robot EOAT. |
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. |