Pick and place using labview and Ni vision acquisition

Hi everyone,
I am doing a student project on Vision guided pick and place of an industrial robot(abb) . I would like to know the steps involved in creating the block.
I have to locate the object , get its cooordinates through webcam. Then does a pattern matching.. and would send the cooordinates to microcontroller . then from microcontroller to robot controller.. then the industrial robot should pick the object and place it in a predefined place..
I would be extremely grateful if you guys can help me since I am new to LabView.
Thanks,
Pradeep.M
( [email protected])
Solved!
Go to Solution.

What you are describing is fairly involved, but here's are some tips. The key is to correlate the robot's coordinate system to the camera's coordinate system. I assume the camera is statically located above the pick-up area? I would move the robot to each corner of the frame to its pick position vertically, and note the robot's position at those locations. These 4 points in space will be correlated to the X,Y coordinates of the camera frame's pixels. You basically need to write a sub-VI with the inputs being pixel X and Y coordinates, and the output being the robot coordinates.
Write a test application telling the robot to go to any X,Y pixel location in the frame to test your sub-VI. If that is working, then you need to set up a pattern match. You will likely want to do a geometric pattern match. Have a look at this example: http://zone.ni.com/devzone/cda/epd/p/id/5555
You will need your pattern match algorithm to return both the coordinates for your robot, and the orientation of the tool required to properly pick up the object (if the pick and place robot tool requires that it be in a specific orientation). So its basically up to you to convert the object's X,Y,and rotation angle in the frame that you get from the pattern match to whatever coordinate system the robot uses.
The placing algorithm could just be a orientation adjustment to put the object into placement orentation, and then the placement positions could be an array of robot coordinates that you iterate through after each pick.
Make sure to implement some safety mechanisms in your algorithms so that the robot can never move somewhere outside a safe range of coordinates.
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Pick and place using labview and Ni vision acquisitio​n

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