Connecting the camera

Camera Setup

As shown in section "Connecting the hardware", the camera needs to be connected to the robobrain® via one of the USB3.0 ports. There are four USB3.0 ports on the backside and two on the frontside of the robobrain®.

Two options are available for mounting the camera to the robot:

• Static mounting

• Dynamic mounting

robobrain.eye mounting options

In case of the static mounting, the camera is mounted above a pick area on an external mount or similar. Due to the constant/static position, dynamic influences of the robot movement or the process are of less relevance and the cycle time can be reduced as compared to dynamic mounting.

Dynamic mounting, on the other hand, refers to mounting the camera directly on the robot's tool flange, such that the camera and gripper move together with each movement of the robot arm. The advantage of this type of mounting is the availability of a camera in different pick zones since the camera is always coupled with the robot’s movement.

Mounting on the Tool Flange

It is important for the mounting of the camera, that no gripper or other equipment is visible in the field of view (FOV) of the camera, therefore impairing the determination of the grip point. You can also use custom flanges for mounting the camera since, the actual camera position and orientation is determined by the calibration.

When mounting parallel grippers, make sure that the system implicitly assumes a stroke movement of the gripper jaws along the x-axis of the TCP.