4. Pick Point Teaching

Fig. 86 Pick Point Teaching overview

In order to precisely localize the good candidates identified during the candidate selection phase, EYE+ XTD geometrically compares each candidate to a reference model. The target of this step is to teach to the system the reference model and to position the pick point relative to this model.

The reference model is defined by the detected features you consider to be meaningful on a good candidate. Based on the reference features, the pick point will be placed accordingly.

The system uses the pick point to return the X and Y coordinates to the robot.