Hello all.
I’m currently implementing an automated cell, controlled by a Python script and Polyscope, that consists of a pick and place operation of moving objects using a Visual-Aided UR3e. An incremental encoder installed in the conveyor is properly connected to the cobot controller.
When the vision system detects an object, its coordinates are sent to the cobot controller using RTDE. Even if inside the “conveyor tracking”, the MoveL command towards the target object only starts properly tracking after arriving at the destination, creating an offset between the TCP and the object, which cannot be solved by just adding a specific offset, as objects in different positions in the conveyor lead to different offsets.
I was trying to use encoder readings to define that offset, but, at the time of writing, no solution i’ve coded has been succesful, and there’s not a lot of information regarding this topic.
Could anyone provide advice on how to solve this issue?
Thank you in advance.
If needed, i can provide both python and polyscope scripts, for a better understanding of the issue.