iRVision

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Safety

• Do not work on any robot unless an instructor or
  lab assistant is present
• Keep controllers doors closed at all times
• When not in lab, lock out robot and controllers
• Keep hands clear of robot in motion
• Do not assume robot is off if there is no motion

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Error Proofing

• Checks for absence/presence of a part
• Checks for orientation, or critical part
  features.

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Error Proofing Example

• Bad part, notice red outline on box

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Error Proofing Example

• Good Part, notice green outline on box

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2D Camera Components
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2D Multi-View
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Hardware

• Camera
• Lens
• Multiplexer
• Teach Pendant
• Communication Cable

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Camera

• Fanuc allows more than one type of camera
• Progressive scan is one type

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Camera

• GiGE camera required 64Meg of DRAM
• High resolution camera with USB connector

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• Calibration grid uses evenly space circles
• to calibrate the camera
• The size of grid should be larger than or the
  same size as cameras field of view (FOV)
• The four large circles must be visible by the
  camera.
• It does not matter how the grids are oriented
  relative to the camera
• So long as the camera can see them
• The grid should be fastened to a rigid metal
  plate before use to insure that the surface is
  flat with no warping.

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Calibration Grid
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