1. INTRODUCTION
This is a tutorial for 2D fixed-frame offset with one robot-mounted camera.

With this tutorial, users can understand how to create a program that allows a robot to recognize workpiece positions through iRVision, when the workpieces are randomly placed on a plane surface as shown in the figure on the right, and to perform correct tasks on the workpieces.

This tutorial is intended for the users with basic robot operation skills and description for robot operation is not included.
For robot operation, refer to the operator's manual for R-30iB Plus controller.

Icons in this tutorial mean the following:
TP
Operations on a teach pendant
PC
Operations on a PC (teach pendant operation also possible)