Pick Configuration Instructions

First, create a new solution and space in the solution management interface, and open the solution configuration interface. After completing scene configuration, click Pick configuration. In this configuration interface, you can complete the configuration of the following contents.

General process of grasp configuration: Create a new capture configuration > Set camera parameters > Set the capture algorithm > Motion planning (optional)

The camera parameters and algorithm parameters in the pick configuration are mandatory items, and motion planning generally needs to be configured in disordered grasp scenes.

1. Create a new pick configuration

Click New, enter the pick configuration name in the pop-up window, and click OK to create a new pick configuration.

Click …​ on the right side of the pick configuration name to rename or delete the pick configuration.

2. Set Camera Parameters

The camera parameters set here are the camera parameters for the workpiece.

  1. Click Open Epic Eye.

  2. Complete the parameter settings in Epic Eye and click Save and exit.

  3. Select a parameter scheme in the Parameter Scheme drop-down list.

3. Set Algorithm Parameters

Introduction

Algorithm parameters refer to the vision algorithms configured in ATOM, which are mainly used to calculate the grasping points of the target object.

Configuration Instructions

  1. Click ATOM on the right side of the algorithm diagram.

  2. Login verification is required for the first opening of ATOM. After completing the login, configure the algorithm diagram in ATOM.

  3. After the configuration is completed, click Save and return to return to the grasping configuration.

  4. In the drop-down bar on the right side of the algorithm diagram, select the corresponding algorithm diagram.

    For the operator parameters checked in ATOM, they will be mapped in the algorithm parameters of Epic Pro.

    For example: If you select the mapping match model during the ATOM configuration, you can choose related model entries in the Epic Pro motion planning interface:

    1. Click Select.

    2. In the popup, create a new matching template, import a matching template, create a template by taking a photo, or select an existing template.

    3. Click Confirm in the popup or double-click an existing template.

    Creating a template by taking a photo is only supported for single-plane scenarios.

  5. After configuring the algorithm parameters, click Take Photo.

  6. Click Detect. Wait for the detection to complete and view the results in the point cloud view.

4. Motion Planning (Optional)

Introduction

Motion planning refers to planning the motion path from the "starting point to the grasping point" for the robot to ensure that the robot can successfully grasp the target object and complete the task. Choosing the appropriate motion planning mode depends on the actual project requirements and constraints.

The following are the specific descriptions and application scenarios of the three optional modes:

Mode

Description

No motion planning

The software only calculates and outputs the grasping point, without considering the robot’s motion path and collision.

This mode is suitable for simple scenarios and only the grasping point needs to be determined, such as in a fixed and obstacle-free environment.

Collision detection only

The software not only calculates the grasping point, but also detects whether the robot will collide at the grasping point, and only outputs the grasping point that will not collide.

This mode is suitable for no-collision scenarios during the grasping process to ensure the safety and stability of the operation.

Path planning

Add a planning starting point, plan the motion path from this point to the grasping point, and detect the collision of the entire path. The output results include several path points including the grasping point.

Applicable to more complex path planning tasks to ensure that the robot can reach the grasping point safely and accurately.

Select motion planning method

  • If motion planning is not performed, no settings are required.

  • If collision detection is only performed, select Collision detection in the drop-down bar of configuration options, and complete Collision detection related configuration.

  • If path planning is performed, select Path detection in the drop-down bar of configuration options, and complete Path planning related configuration.