When To Use The Robot Positioning System - Rethink Robotics Baxter User Manual

A landmark is a design or mark placed in the field of view of an imaging system to be used as a
point of reference. It's similar in some ways to a registration mark used in printing to keep the differ-
ent images aligned.
Rethink Robotics currently supplies landmarks on anodized aluminum with an adhesive backing.
These landmarks are placed on the surface of modules in the work area.
If Baxter -- or the surface containing the landmark on which an action takes place -- moves, either
accidentally or not, you can use the Robot Positioning System feature to re-register the action in
relation to the original location and quickly reorient Baxter in relation to the task.
Please note this feature is designed for relatively small changes in location. The movement between
the original location and the re-registered one should not be more than a distance +/- 50mm and/or
a rotation of 10 degrees.
IMPORTANT:
• When re-registering to a previously associated landmark, it's very important that
you do not move the arm from the original location. Doing this will introduce error
into the associated actions. Therefore, we recommend pressing the OK button
on the other arm or Baxter's torso.
• For certain tasks you may need to mechanically fix Landmarks to the workspace.
For example: tasks where the surface is particularly hot, which would affect the
adhesive on the landmark, allowing it to drift.

When to Use the Robot Positioning System

This feature is useful whenever you anticipate that the location of an action (usually a Pick or Place)
may change and you want to quickly reregister Baxter to the new location.
The change in location could be caused by:
• rolling Baxter away for routine calibration and then moving the robot back into
the same work cell.
• operator error, for example, accidentally bumping a table.
• planned moves of the robot and setup, for example, when moving an entire work
cell to a new location on the factory floor.
Robot Positioning System
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Intera 3.2