Bin Picking Process; Sensor Alignment; Tool; Environment - Universal Robots ActiNav Operating Manual

2. Bin Picking Process
2. Bin Picking Process
This section describes the key steps in the ActiNav setup.
2.1. 3D sensor alignment
The ActiNav system includes a 3D sensor that scans the parts and a robot arm that manipulates the
parts. 3D sensor alignment is necessary to let the system know where exactly the robot arm is mounted
in relation to the 3D sensor.
You do the alignment by moving the robot arm with the alignment marker attached and recording the
marker position samples. For more information, see section 3.1. 3D sensor alignment on page 3.

2.2. Tool

In ActiNav an end effector is referred to as the Tool.
A CAD model of the tool is used for display purposes, and to provide a template for creating Clearance
Shapes. For more information, see section 1. Configuring a Tool on page 1.

2.3. Environment

The Environment is a virtual representation of the workspace. Objects in the workspace are
represented by Clearance Shapes.
When a program is running, the robot, tool and part do not touch any Clearance Shapes.
In ActiNav, you can create and configure multiple different environments.

2.4. Clearance Shapes

Clearance Shapes are created in the Environment to represent objects in the real world or, to serve as
virtual barriers. They let ActiNav move the robot arm, the tool, and the parts without collisions.
You can create Clearance Shapes by teaching key points with the TCP, or by entering shape
characteristics in the Shape Properties and Shape Coordinates sections.

2.5. Bin

The Bin is the object in the Environment that represents the bin in the workspace.
You define the Bin by teaching the walls and the floor of the Bin, and then specifying its properties and
the scan zone settings. For information on creating the Bin, see section 3.5. Bin on page 12.
PolyScope shows the Bin as a set of Clearance Shapes, but you cannot edit those Shapes in the
Environment screen. You can edit them by changing the properties of the Bin.
ActiNav Autonomous Bin Picking 2 Operating Guide