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40 | Need Help?¶
36 |You’re on your own now, buddy.
37 |You’re on your own now, buddy.
37 |42 | Please activate JavaScript to enable the search 43 | functionality. 44 |
45 |47 | From here you can search these documents. Enter your search 48 | words into the box below and click "search". Note that the search 49 | function will automatically search for all of the words. Pages 50 | containing fewer words won't appear in the result list. 51 |
52 | 57 | 58 |set_zonedata(self, var, zonedata)¶Set the value for a zonedata variable in RAPID. 39 | var: name of variable as declared in RAPID. 40 | zonedata: desired zonedata value [int].
41 |set_speeddata(self, var, speeddata)¶Set the value [int] for a speeddata variable in RAPID. 47 | var: name of variable as declared in RAPID. 48 | speeddata: desired speeddata value [int].
49 |set_speed_ratio(self, speed_ratio)¶Set the speed ratio of the robot. 55 | speed_ratio: desired speed ratio in percent [1-100].
56 |Copyright 2020 Markus H. Iversflaten & Ole Christian Handegård
38 |Permission is hereby granted, free of charge, 39 | to any person obtaining a copy of this software 40 | and associated documentation files (the “Software”), 41 | to deal in the Software without restriction, including 42 | without limitation the rights to use, copy, modify, merge, 43 | publish, distribute, sublicense, and/or sell copies of the 44 | Software, and to permit persons to whom the Software is 45 | furnished to do so, subject to the following conditions:
46 |The above copyright notice and this permission notice shall be included in 47 | all copies or substantial portions of the Software.
48 |THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 49 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 50 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 51 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 52 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 53 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 54 | THE SOFTWARE.
55 |This software is mainly directed toward engineering 37 | students and staff at the University of Stavanger. 38 | It was first created as a Bachelor thesis work.
39 |This documentation covers the source code used in a demonstration program at the University of Stavanger. 38 | This includes a pip installable package, rwsuis, which is covered in Robot Web Services.
39 |Here are the different ways of acquiring the software.
40 |pip install rwsuis
46 | git clone https://github.com/prinsWindy/ABB-Robot-Machine-Vision.git
55 | Camera(cam_ID=0)¶The Camera class contains methods specifically meant for the University of Stavanger. 41 | These functions have only been tested on a IDS UI-1007XS-C camera, and might not work 42 | as intended on other models.
43 |# Initialization
48 | cam = Camera()
49 | cam.init()
50 | cam.set_parameters()
51 | cam.allocate_memory()
52 | cam.capture_video()
53 |
54 | # Show video
55 | img = cam.get_image()
56 | cv2.imshow("Quickstart", img)
57 | if cv2.waitKey(1) & 0xFF == ord('q'):
58 | cv2.destroyAllWindows()
59 | break
60 |
61 | cam.exit_camera()
62 | The parameters set are not currently configurable through method inputs. 65 | They are specifically set for laboratory work at the University of Stavanger.
66 |Puck(number, position, angle, height=30)¶set_position(position)¶Updates Puck position.
position (float[]) – New Puck position [x,y]
set_angle(angle)¶Updates Puck angle.
angle (float[]) – New Puck angle
set_height(height)¶Updates Puck height.
height (float[]) – New Puck height
get_xyz()¶Gets true position of Puck ([x,y,z] on the work object).
Puck position [x,y,z]
check_collision(puck_list)¶Finds an angle of rotation for the gripper which avoids 88 | collisions between the gripper and other pucks 89 | when sliding in to pick up a puck.
90 | 101 |' + _('Hide Search Matches') + '
') 234 | .appendTo($('#searchbox')); 235 | } 236 | }, 237 | 238 | /** 239 | * init the domain index toggle buttons 240 | */ 241 | initIndexTable : function() { 242 | var togglers = $('img.toggler').click(function() { 243 | var src = $(this).attr('src'); 244 | var idnum = $(this).attr('id').substr(7); 245 | $('tr.cg-' + idnum).toggle(); 246 | if (src.substr(-9) === 'minus.png') 247 | $(this).attr('src', src.substr(0, src.length-9) + 'plus.png'); 248 | else 249 | $(this).attr('src', src.substr(0, src.length-8) + 'minus.png'); 250 | }).css('display', ''); 251 | if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) { 252 | togglers.click(); 253 | } 254 | }, 255 | 256 | /** 257 | * helper function to hide the search marks again 258 | */ 259 | hideSearchWords : function() { 260 | $('#searchbox .highlight-link').fadeOut(300); 261 | $('span.highlighted').removeClass('highlighted'); 262 | }, 263 | 264 | /** 265 | * make the url absolute 266 | */ 267 | makeURL : function(relativeURL) { 268 | return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL; 269 | }, 270 | 271 | /** 272 | * get the current relative url 273 | */ 274 | getCurrentURL : function() { 275 | var path = document.location.pathname; 276 | var parts = path.split(/\//); 277 | $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() { 278 | if (this === '..') 279 | parts.pop(); 280 | }); 281 | var url = parts.join('/'); 282 | return path.substring(url.lastIndexOf('/') + 1, path.length - 1); 283 | }, 284 | 285 | initOnKeyListeners: function() { 286 | $(document).keyup(function(event) { 287 | var activeElementType = document.activeElement.tagName; 288 | // don't navigate when in search box or textarea 289 | if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT') { 290 | switch (event.keyCode) { 291 | case 37: // left 292 | var prevHref = $('link[rel="prev"]').prop('href'); 293 | if (prevHref) { 294 | window.location.href = prevHref; 295 | return false; 296 | } 297 | case 39: // right 298 | var nextHref = $('link[rel="next"]').prop('href'); 299 | if (nextHref) { 300 | window.location.href = nextHref; 301 | return false; 302 | } 303 | } 304 | } 305 | }); 306 | } 307 | }; 308 | 309 | // quick alias for translations 310 | _ = Documentation.gettext; 311 | 312 | $(document).ready(function() { 313 | Documentation.init(); 314 | }); 315 | -------------------------------------------------------------------------------- /docs/build/html/genindex.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
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create_robtarget(gripper_height, gripper_rot, cam_pos, image, puck, cam_comp=False)¶Complete a series of transformations to finally create a robtarget of the puck’s position from an image. 41 | These transformations are based on the setup at the University of Stavanger, and with a specific RobotStudio setup 42 | (in regards to coordinate systems). This Pack and Go file includes this setup.
43 |gripper_height (float) – Height of gripper above work object
gripper_rot (tuple) – Orientation of gripper, must be a Quaternion (tuple of length 4)
cam_pos (float[]) – Camera position [x,y]
image (ndarray) – An image
cam_comp (bool) – Running camera_adjustment?
A Puck object with robtarget as position
transform_position(gripper_rot, puck)¶Transform coordinate system given by image in OpenCV to coordinate system of work object in RAPID. 64 | Swap x & y coordinates and rotate by the same amount that the camera has been rotated.
65 | 73 |pixel_to_mm(gripper_height, puck, image)¶Converts coordinates in image from pixels to millimeters. 79 | This depends on the camera’s working distance.
80 | 89 |overshoot_comp(gripper_height, puck)¶Compensate for the overshoot phenomenon which occurs when trying to pinpoint 95 | the location of a 3D object in a 2D image.
96 | 104 |camera_compensation(gripper_height, gripper_rot, puck)¶Compensate for an angled camera view. Different cameras will be 110 | angled differently both internally and externally when mounted to a surface. 111 | The slope values must first be calculated by running camera_adjustment. 112 | Works with any camera orientation.
113 | 122 |get_camera_position(trans, rot)¶Uses the offset between the gripper and camera to find the camera’s position. 128 | `Robot Web Services`_
129 |trans (float[]) – Position of gripper
rot (tuple) – Orientation of gripper, must be a Quaternion (tuple of length 4)
Position of camera
138 |