Configuration and programming of the fanuc irvision vision system for applications in the dynamic environment of manipulated elements

The article presents the configuration process of the vision system with a fixed camera and identification of position of manipulated components related to robot's scene coordinates system. In the research phase, a 2D vision system was used, which determines the location of the detail in the form of X and Y coordinates, as well as the orientation around the Z axis (defined as the R parameter). The description of the camera configuration, defining the TCP point of the robot, the definition of the robot's scene and the camera calibration procedure were discussed in detail. Subsequently, a teaching process of the calibration pattern and a definition of the reference position were described. The authors presented also the basic steps of elementary image analysis related to processing, recognition of the learned patterns and their locating in captured images.