Adept iSight · PDF fileAdept iSight Tutorial Adept iSight Tutorial Welcome to the Adept iSight Tutorial This tutorial will walk you through the creation of a basic, functional machine

Adept iSight Tutorial



P/N: 05170-000, Rev B

May 2005

© Copyright 2005 Adept Technology, Inc.

The Adept Technology oloo and HexSight are registered trademarks of Adept Technology, Inc.

All other product and company names mentioned are the property of their respective owners.

3011 Triad Drive • Livermore, CA 94551 • USA • 925.245.3400

Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • 49.231.75.89.40

41, rue du Saule Trapu • 91300 • Massy • France • 33.1.69.19.16.16

200-1020 Route de l’Eglise • Sainte-Foy QC G1V 3V9 • Canada • 418.657.5000

Welcome to the Adept iSight Tutorialorial assumes you are familiar with

the software installation.


Adep

t iSi

ght T

utor

ial

This tutorial will walk you through the creation of a basic, functional machine vision application. The tutAdept DeskTop and with the operation of the Cobra i-Series robot.

Tutorial Overview

• Install the hardware

• Install the software

• Create a vision application

• Add a MicroV+ program

• Test the integrated application

System Requirements

• PC running Windows 2000 SP4 or Windows XP

• PC with an OHCI-compliant 1394 (FireWire) Bus Controller

• Windows .NET Framework. If it is not present on your computer, it will be installed during

Note: The type of PC processor will influence the execution speed of the vision applications.

Before Starting the Tutorial

You will need a typical object/part for the tutorial. Use a part that:

• the robot can easily grip, or point to, with the robot end effector, and

• that is suitable for vision applications.

Module 2: Install iSight Hardware

2

IEEE 1394 port

Back of Basler

ht Setup

camera

tion ports


Install iSight Hardware

Install the Robot

Refer to installation instructions in the manuals that came with the robot:

• Adept Cobra i600/i800 Robot User’s Guide (P/N 03589-000)

• Adept Cobra i600/i800 Robot Quick Start Guide (P/N 03589-000)

Install the Lens

1. Locate the lens that came with the package.

2. Install the lens on the camera. Do not over-tighten.

3. Do not set the lock screws, since you will need to adjust the lens aperture

and focus later.

Install the Camera

1. Locate the IEEE 1394 (FireWire) cable that is included in the shipment box.

2. Connect one end of the cable to the 1394 port on the Basler camera. See

image.

3. Mount the camera in the workcell using the camera mount brackets.

4. Connect the other end of the cable to a 1394 FireWire port on the PC. A hub

may be required if the PC (laptop) has a 4-pin port.

5. Typically, you should mount the camera so that it is perpendicular to the

workspace.

6. Make sure that the installed camera clears the top of the robot.

Note: In Windows 2000 you may get a "Found New Hardware” popup. In such a case, click Cancel: the Basler camera driver will be installed with the iSight software.

Overview of Ad

Basler Camera

Next: Install the Software

ept iSig

connec

Module 3: Install the Software

3

fore installing the new version.

e installing the new version.

e present at all times to ensure

atically install iSight in the

stalled during the iSight software


Install the SoftwareThe software installation process will install the following:

• Adept DeskTop 3.1

• Adept iSight 1.0

• Basler BCAM camera drivers

• Sentinel Super Pro driver for the USB hardware key (dongle)

Before Installing

• If Adept DeskTop version 2.3 or previous, is installed on your computer, you must uninsta

• If Adept DeskTop 3.0 is currently installed on your system, you do not have to uninstall it

• Install the USB hardware key (dongle) that came with iSight. This dongle is required and m

the proper functioning of iSight.

Installing the Software

1. Install Adept DeskTop from the Adept DeskTop CD-ROM.

2. Follow the instructions on screen.

3. Do not change the default destination folder to which Adept DeskTop will be installed.

4. Install iSight from the Adept iSight installation CD-ROM.

5. Follow the instructions on screen.

6. Do not change the default destination folder to which iSight will be installed. The installation

same destination as Adept DeskTop.

The installation is now complete. The drivers for the Basler camera and the Sentinel hardware keyinstallation. You do not need to reboot your computer before starting Adept DeskTop.

Next: Open the Vision Manager

ll it be

befor

ust b

autom

are in

Module 4: Open the Vision Manager

4

t Quick Start Guide.

stem.

ated.


Open the Vision ManagerVision applications are created and managed in the Vision Manager window in Adept DeskTop.

Open Adept DeskTop

1. Open Adept DeskTop.

2. Connect and power up the robot. For additional instructions refer to the Adept Cobra i600/i800

Open the Vision Manager

1. From the Adept DeskTop menu, select Tools >Vision.

2. The Vision Manager opens, similar to the image below.

• Before creating a new vision application, you will have to adjust the camera and calibrate

• Warning symbols such as those in the image above indicate that the system has not been

Sequence Manager:

Camera List

From the Sequence Manager, you manage and edit the sequences that make up

From the Camera List, you can configure camera parameters and launch the calibrations

your vision guidance application

The Vision Manager Window

You can dock the Vision Manager anywhere in the Adept DeskTop window

Next: Adjust the Camera

Robo

the sy

calibr

Module 5: Adjust the Camera

5

Opens the Live

dow

Display window

om Options


Adjust the CameraTo adjust the camera lens you must open a live display.

Open Live Camera display

1. In the Available Cameras list, select the Basler Camera (A601F…).

2. Click the Live Display icon. See image.

3. The Live Display opens.

4. Important: Make sure that the entire area covered by the camera

field of view is within the robot’s work range. Otherwise, reposition

the camera.

Adjust Lens Focus and Aperture

1. Open the Live Display window to guide you in adjusting the lens

aperture and focus.

2. Place one or more objects in the field of view.

3. Use the display’s zoom options by right-clicking in the window. See

image.

4. Adjust the focus until objects in the display are sharp.

5. Once you have obtained the best possible focus, adjust the lens

aperture (f-stop) until you obtain a well-contrasted image. If it is

too highly contrasted (saturated) you will lose detail.

You can now optionally adjust camera parameters, although the default camera parameters should be satisfactory for this tutorial.

Opening a Live Disp

Live Display Window

Next: Adjust Camera Properties (optional)

lay Win

with Zo

Module 6: Adjust Camera Properties (optional)

6

rties Window


Adjust Camera Properties (optional)If you want to adjust camera parameters, follow the steps below. Otherwise go to the next modul

Open the Camera Properties Window

1. Select the Basler camera in the list of Available Cameras (A601F…).

2. Click on the camera properties icon. See image.

Configure the Camera Properties

In the camera Properties window:

1. Select the Stream Format tab and set the following properties:

• Format: select Format 0.

• Frame Rate: select 60 fps.

• Mode: select 640 x 480, Mono 8

2. Select the Video Format tab and set the following properties by

moving the sliders or directly typing in the values:

• Shutter: set to 600.

• Gain: set to 10.

• Brightness: set to 400.

3. Leave other parameters at their default settings, and click OK to close

the camera properties window.

Opening the Camer

Camera Properties

Next: Calibrate the Camera

e.

a Prope

Window

Module 7: Calibrate the Camera

7

th the Adept iSight kit to follow

rget. See the iSight online help

t module of this tutorial.

ion alone.

f view is within the robot’s work

n Manager

Warning symbols indicate

Camera Calibration Wizard icon

non-completed calibrations

launches camera calibation


Calibrate the CameraCalibrating the camera/vision system increases the accuracy of your results by correcting image e

• The camera calibration requires a grid of dots target. Use the sample paper target that ca

this tutorial.

• The sample target is intended for teaching purposes only; it is not a genuine, accurate vis

for information on accurate dot targets and the importance of calibrating the vision system

• The camera can be calibrated during the Robot-To-Vision calibration. This is explained in t

Calibrating the camera separately will provide higher accuracy than the Robot-to-Vision ca

Important: Before starting this calibration, make sure that the entire area covered by the camerarange.

Launch the Camera Calibration

1. Select the Basler camera from the camera list.

2. Click the 'Camera Calibration Wizard' icon, as shown here.

3. The Vision Calibration Wizard opens, beginning the vision

(camera) calibration process.

4. Follow the instructions in the wizard, then return to this

tutorial once the calibration is finished.

5. If you need help during the Calibration process, Click Help

in the Calibration Wizard.

Starting Camera Calibration from t

Next: Calibrate Robot to Vision

rrors.

me wi

ion ta

.

he nex

librat

field o

he Visio

Module 8: Calibrate Robot to Vision

8

era. The calibration enables

frame of reference.

eck mark symbol indicates that

obot-to-Vision Calibration Wizard icon

e camera calibration was completed

ion Manager

unches Robot to Vision calibration


Calibrate Robot to VisionRobot-to-Vision calibration ensures that the robot will accurately move to parts that are seen by t

iSight to accurately transform coordinates in the camera frame of reference to coordinates in the

Launch the Robot-to-Vision Calibration

1. Select the Basler camera from the camera list.

2. Click the 'Robot-to-vision Calibration Wizard' icon, as

shown here.

3. The Interview Wizard opens, beginning the robot-to-

vision calibration process.

4. Follow the instructions in the wizard, then return to this

tutorial once the calibration is complete.

5. If you need help during the Calibration process, Click

Help in the Calibration Wizard.

Starting Robot to Vision Calibration from

Next: Create a Vision Sequence

he cam

robot

Ch

R

th

the Vis

la

Module 9: Create a Vision Sequence

9

tool in the sequence executes in


Create a Vision SequenceA sequence is a series of processes that are executed by vision tools. When you execute a sequenceorder. You add, remove, and edit the vision tools in the Sequence Editor.

Saving a Sequence

All sequences in the Sequence Manager are saved when you save the vision project.

• Sequences are saved as part of the project, not individually.

• Project files are saved with the extension "hsproj".

Click the Save icon to save the current project now:

Opening the Sequence Editor

By default, there is already a first sequence in the application.

1. Select the first sequence in the list

2. In the Sequence Manager, click the 'Edit Sequence' icon. See image.

Edit Sequence icon Click on New Sequence to select it and activate icons in the taskbar

Sequence Manager Task Bar

Next: Add Tools to the Vision Sequence

, each

Module 10: Add Tools to the Vision Sequence

10

e Editor Window.

l, called Locate Objects.

Display area

Window

or

Grid of results area

Camera model andID appears here


Add Tools to the Vision SequenceA vision sequence is built by adding vision tools to the sequence. These tools are added in the Se

In this module you will add an image acquisition tool, called Acquire Images and an object findi

The Sequence Editor Window

When you first open the Sequence Editor, it is empty, as illustrated here.

• Tools are added by dragging them from the Toolbox into

the Process Manager area labeled "Drop Tools Here".

• The Toolbox contains the tools available for building

sequences.

Add an Acquire Images Tool

Acquire Images is the first tool to add because it supplies images to other tools in the sequence.

1. In the Toolbox, select Acquire Images and drag it into the

Process Manager frame that reads "Drop Tools Here".

2. The Process Manager should look like the image shown here.

3. You are now ready to configure the tool you have added to

your application.

Toolbox

Process Manager

The Four Areas of the Sequence

Acquire Images Tool Added to t

Next: Acquire Images

quenc

ng too

Editor

he Edit

Module 11: Acquire Images

11

cate Objects tool that you will add

Drag here to resize image


Acquire ImagesThe Acquire Images tool provides the images taken by the camera to subsequent tools, such as later.

Displaying Images

You can display images as a continuous live display or as single static images.

1. Select the Basler camera in the list if it is not already

selected. (A601f...)

2. To grab a single image, click on the Single Grab icon: .

3. The display should now contain an image.

4. To select the continuous input of camera images, also

called Live display, click the Live Display icon:

5. In this Live Display mode, the word Live appears at top

left of the display. See image.

6. If you are not satisfied with the image quality, click the

Edit icon: to access and edit the camera parameters.

7. To exit the Live mode, click the Live Display icon.

Live Display in the Sequence Editor

Next: Add a Locate Objects Tool

the Lo

Note:

Module 12: Add a Locate Objects Tool

12

s on the location of the objects it

ts Tool

Acquire Image tool

supplies image to the Locate Objects tool

Part models willbe listed here


Add a Locate Objects ToolThe Locate Objects tool searches for the objects you have defined in your application and returnsfinds.

1. In the Toolbox, select Locate Objects and drag it into the Process

Manager frame, below the Acquire Images box.

2. The Process Manager area should look like the image shown at right.

3. The Locate Objects box is subdivided into 6 sections:

• Input: defines the source that provides the image.

• Location: defines the region of interest for the tool’s search

process.

• Models: contains models of the parts to be located.

• Search: sets basic parameters used by the tool’s search process.

• Results Log: provides access to log properties.

• Advanced: advanced properties used by the search process.

4. Under Location, leave the Entire Image check box enabled. This

ensures that the search process will look for objects in the entire image

provided by the camera.

5. You are now ready to create a model for the object that you want to find

with this application.

Properties of the Locat

Next: Create an Object Model

result

e Objec

Module 13: Create an Object Model

13

del for the part you want to locate

odel-Building


Create an Object ModelTo find a specific part or object, iSight must have an active model of the part. You will now create twith this application.

Create a New Model

1. Place the object in the camera field of view and acquire

an image, in either Single Grab or Live Display mode.

2. In the Models section, click the + button to create a new

model. The display is now in the Model Editor mode.

3. The Model's bounding box appears in the image as a

green rectangle.

4. Drag and resize the green bounding box to completely

enclose the entire object. Green outlines show the details

and contours that will be added to the model.

5. Ignore the yellow axes marker for now, it will be covered

in the next module of the tutorial.

6. Click Done to acquire the new Model. This new model

now appears as Model0 in the list of Models.

Basic Model-Editing Mode Provides Q

Next: Edit the Model

he mo

uick M

Module 14: Edit the Model

14

t's coordinate system is the

te System

odel

T.O. check box indicatethat tool offset has notbeen set for this model

Bold lines show

Coordinate System marker

features added to model

sets the origin of the object’s frame of reference


Edit the ModelEach modeled part has a frame of reference called the Object coordinate system. The origin of anposition that is returned in the results when an instance of this object is found.

In this module you will edit the model to reposition the coordinate system.

1. Select Model0 in the list of models.

2. Click Edit to enter the Model Editor mode.

3. Reposition the yellow axes marker that indicates the position and

orientation of the object’s coordinate system:

• To rotate the marker, click on the arrow of the X or the Y-axis and

drag with the mouse.

• To move the marker, click the origin of the X and Y axes and drag

with the mouse.

• You can also drag the arrow end of the axes to stretch the marker to

help align the marker over long features.

4. Once you have finished positioning the marker, click Done to apply the

changes made to the Model and close the Model Editor.

Typically the Model you have created will be satisfactory and ready to use.

Optionally, you can to continue to edit the model, as explained in the following module. Otherwise, continue with the module titled Correct the Tool Offset.

Editing the Object C

List of Models with a

Next: Edit the Model in Expert Mode (optional)

objec

oordina

dded m

Module 15: Edit the Model in Expert Mode (optional)

15

Tool Offset

xpert Mode

and Detail Level Features

Outline Level Model

l Model


Edit the Model in Expert Mode (optional)If you want to edit model features, follow the steps below. Otherwise go to the next module: Corr

In this module you will edit model features with the Expert model-editing mode.

1. If you are not in model edition mode, Select Model0 in the list of

models and click Edit to open the Model Editor mode.

2. Click Expert to enter the advanced model-editing mode.

3. Under Show, select Outline to see the outline-level contours of the

Model. Outline features are coarser than the Detail features.

Typically, models contain features in both Outline and Detail level.

You can edit features at either of these levels.

4. Select a feature by clicking or double-clicking the feature. The

selected feature is displayed as a bold red contour.

5. Click the Delete key to remove the feature. The contour now appears

in blue.

6. To add this feature back to the model, double click the feature and

click the Insert key.

7. Click Apply to make your modifications definitive in the Model.

8. Click Done to exit

You must now correct the tool offset for the model. This is essential; it ensures that the robot will correctly locate this object every time.

Advanced Model Editi

Models Contain both O

Det

Next: Correct the Tool Offset

ect the

ng in E

utline

ail Leve

Module 16: Correct the Tool Offset

16

y pick up or move to the part. The

flange.

e Tool Offset Correction


Correct the Tool OffsetFor each object/part model, you must carry out a tool offset correction that will enable iSight to coTool Offset Correction teaches iSight:

• what Z height to move to,

• the relationship between the vision angle and the robot roll angle, and

• any offset caused by the coordinate system not being aligned with the center of the robot

Launching the Tool Offset Correction

1. Select Model0 in the list of Models.

2. Click the 'Model Options' icon:

3. Select Tool Offset >Wizard... as shown in image.

4. The Tool Offset Wizard opens, beginning the tool offset correction.

5. Follow the instructions in the wizard, then return to this tutorial once the correction

is finished.

If you need help during the Tool Offset correction process, Click Help in the Tool Offset wizard.

When to Correct Tool Offset

Important:

• You must correct the tool offset for every model you add to an application.

• You must re-correct tool offset for a model whenever you make any changes to

the model’s coordinate system.Launc

Next: Configure Search Parameters

rrectl

's tool

hing th

Module 17: Configure Search Parameters

17

f the basic search parameters.

Search Constraints


Configure Search ParametersSearch parameters set basic constraints for the search process. This module introduces you to ed

1. Under Search, locate Instances to Find.

2. Change the Instances to Find value to ALL. This will allow the search process to

find any number of objects of the type defined by your model.

3. Leave all the other parameters to their default settings.

You can experiment later with other Search Constraints:

• Scale: Select Range then select a scale range to find objects of varying scale.

• Rotation: Select Nominal and then enter rotation value to find only those

objects that are positioned in the defined angle of rotation.

• Min Model Recognition: Select the percentage of object contours and

features that are required to locate a valid object instance.

Confi

Next: Run and Test the Application

iting o

guring

Module 18: Run and Test the Application

18

bjects tool finds the object in

rid of results


Run and Test the ApplicationNow that you have created a Model and configured search parameters, you will verify that the Locimages similar to the one that was used to create the model.

1. Click the 'Execute Sequence' button at the top of the

window:

2. When an object is found, it is shown with a red contour. The

results for the object appear in the grid below the display.

See image.

3. Verify in the grid of results that the instance was located

correctly.

4. Move the object or add more objects in the field of view.

5. The results for the found instances are updated every time

you press the 'Execute Sequence' button.

Test in Continuous Mode

1. To start a continuous running mode, click the 'Repeat

Sequence' button at the top of the Editor:

2. Click Execute icon. The application should run in continuous

mode.

3. Exit te continuous running mode by clicking 'Stop

Sequence': .

Display and Results of Found Objec

Execution time

Next: Integrate iSight with a MicroV+ Program

ate O

ts

G

Module 19: Integrate iSight with a MicroV+ Program

19

nd by the vision application, you

d object at whatever position and

ects.

ram

V+ Code Library


Integrate iSight with a MicroV+ ProgramIn the previous module, you tested the vision application. To enable the robot to handle the objecneed to create or add MicroV+ program.

For this tutorial we have provided a sample application that instructs the robot to pick up a model-whatever angle it has been found in the field of view.

Note: If your robot has a pointer-type tool instead of a gripper, the robot will point to the locat

1. Open the V+ Code Library tab. If it is not visible, open the Code

Library from the menu: select Tools> V+ Code Library

2. In the list of code examples, also called clips, select Vision-guided

pick-and-place in the iSight Examples folder. See image.

3. Right-click on Vision-guided pick-and-place and select Create

V+ program from clip.

4. In the Create a New Program or Module, click Create.

5. The program is added to the Program Manager.

You must now assign the TutorialiSight program to a task in the program execution tool.

1. Select tutorialisight in the Program Manager list. See image.

2. Drag it to Task 0 in the Program Execution list.

3. Execute the program.

You have completed the tutorial! Please send us your comments and feedback.

Adding and Assigning a

Program assigned toTask 0

ts fou

define

ed obj

V+ Prog


P/N: 05170-000, Rev B

May 2005

Documents

Adept iSight · PDF fileAdept iSight Tutorial Adept iSight Tutorial Welcome to the Adept iSight Tutorial This tutorial will walk you through the creation of a basic, functional machine