[eugmoses]

Hello,

We are facing issue with pick and place assembly Robo as the alignment is drifting between various run of the same model irrespective of having the same End-effector Cartesian target and Robot DH parameters. Attached screenshots are the camera view showing alignment issue of the same model during different simulation run without any change in parameters. 

Below is the high level modelling The grippers detach the rollers after assembly on frame to each slot's midpoint reference frame Ex: Roller 1 detached to Frame Slot 1_Ref_Frame . Then the Bolts were feed and after torque by ScrewDriver on top of roller get detached to the same reference frame For Ex: Blot 1 to Blot 4 detached to Frame Slot 1_Ref_Frame   

Kindly provide your advice on the same.

Regards,

Eugene Moses R

[Sam]

Hi Eugene,

Is your fixture mounted on a conveyor? Or any mechanism with a lateral axis?

[eugmoses]

Hi Eugene,

Is your fixture mounted on a conveyor? Or any mechanism with a lateral axis?

Hello Sam,

Thank you for the support. I am not using fixture and placing the roller on top of the base frame which is not on any support.  Attached below is the picture of the base frame and roller assembly which is positioned in free space above floor.

Regards,

Eugene Moses R

[Albert]

Can you provide us with your RoboDK project file?

[eugmoses]

Can you provide us with your RoboDK project file?

Hello Albert,
Attached is the RoboDK project file. Kindly use Start Simulation to run the simulation at Speed 1.3.
Regards,
Eugene Moses R

[Sam]

The problem is the repeatability of the pick location on the conveyor.
The step size of the conveyor is larger than the range of the sensor (WaitForPart.py).
You can see the gripper pick the part with an offset.

You need a more reliable pick sequence.

Here's a conveyor example with better simulation: https://robodk.com/stations#filter?name=conveying+#02