From 211c4316f7d192dde0cbe2ca140ec3cf069b877f Mon Sep 17 00:00:00 2001 From: Roboception GmbH Date: Wed, 6 Mar 2024 12:30:05 +0000 Subject: [PATCH] generated docs from CI --- .buildinfo | 2 +- .../robot/measureapplicationaccuracy.rst.txt | 26 +++++++++--------- _sources/.doctrees/environment.pickle | Bin 358131 -> 367260 bytes _sources/.doctrees/index.doctree | Bin 5187 -> 5187 bytes .../getting_started.doctree | Bin 47172 -> 47172 bytes .../gripper_creation.doctree | Bin 44022 -> 44022 bytes .../rc_collision_check/overview.doctree | Bin 11688 -> 11688 bytes .../troubleshooting.doctree | Bin 12839 -> 12839 bytes .../rc_itempick/bin_picking_no_robot.doctree | Bin 107787 -> 107787 bytes .../rc_itempick/getting_started.doctree | Bin 63456 -> 63456 bytes .../.doctrees/rc_itempick/overview.doctree | Bin 11578 -> 11578 bytes .../rc_itempick/troubleshooting.doctree | Bin 16092 -> 16092 bytes .../load_carrier_setup.doctree | Bin 136503 -> 136503 bytes .../rc_reason_general/overview.doctree | Bin 11685 -> 11685 bytes .../rc_reason_general/troubleshooting.doctree | Bin 50512 -> 50512 bytes .../rc_silhouette/getting_started.doctree | Bin 96126 -> 96126 bytes .../.doctrees/rc_silhouette/overview.doctree | Bin 11640 -> 11640 bytes .../rc_silhouette/template_generation.doctree | Bin 47785 -> 47785 bytes .../rc_silhouette/troubleshooting.doctree | Bin 36302 -> 36302 bytes _sources/.doctrees/rc_urcap/boxpick.doctree | Bin 25689 -> 25689 bytes _sources/.doctrees/rc_urcap/cadmatch.doctree | Bin 33232 -> 33232 bytes .../rc_urcap/expertfunctions.doctree | Bin 35429 -> 35429 bytes .../.doctrees/rc_urcap/gettingstarted.doctree | Bin 35054 -> 35054 bytes .../rc_urcap/handeyecalibration.doctree | Bin 31974 -> 31974 bytes _sources/.doctrees/rc_urcap/itempick.doctree | Bin 26390 -> 26390 bytes _sources/.doctrees/rc_urcap/overview.doctree | Bin 11622 -> 11622 bytes _sources/.doctrees/rc_urcap/rc_visard.doctree | Bin 18005 -> 18005 bytes .../.doctrees/rc_urcap/sampleprogram.doctree | Bin 22257 -> 22257 bytes .../.doctrees/rc_urcap/silhouette.doctree | Bin 34528 -> 34528 bytes .../rc_urcap/troubleshooting.doctree | Bin 14317 -> 14317 bytes .../rc_visard_general/data_recording.doctree | Bin 87127 -> 87127 bytes .../rc_visard_general/network_setup.doctree | Bin 106303 -> 106303 bytes .../rc_visard_general/opencv_example.doctree | Bin 89667 -> 89667 bytes .../rc_visard_general/overview.doctree | Bin 11344 -> 11344 bytes .../rc_visard_general/parameters.doctree | Bin 96554 -> 96554 bytes .../rc_visard_general/projector.doctree | Bin 56962 -> 56962 bytes .../robot/measureapplicationaccuracy.doctree | Bin 31946 -> 31944 bytes _sources/.doctrees/robot/overview.doctree | Bin 10854 -> 10854 bytes .../getting_started.rst.txt | 2 +- .../gripper_creation.rst.txt | 2 +- .../rc_itempick/bin_picking_no_robot.rst.txt | 2 +- _sources/rc_itempick/getting_started.rst.txt | 2 +- .../load_carrier_setup.rst.txt | 2 +- .../rc_silhouette/getting_started.rst.txt | 2 +- .../rc_visard_general/data_recording.rst.txt | 2 +- .../rc_visard_general/network_setup.rst.txt | 2 +- .../rc_visard_general/opencv_example.rst.txt | 2 +- _sources/rc_visard_general/parameters.rst.txt | 2 +- _sources/rc_visard_general/projector.rst.txt | 2 +- _static/documentation_options.js | 2 +- genindex.html | 6 ++-- index.html | 6 ++-- rc_collision_check/getting_started.html | 16 +++++------ rc_collision_check/gripper_creation.html | 12 ++++---- rc_collision_check/overview.html | 8 +++--- rc_collision_check/troubleshooting.html | 6 ++-- rc_itempick/bin_picking_no_robot.html | 14 +++++----- rc_itempick/getting_started.html | 16 +++++------ rc_itempick/overview.html | 8 +++--- rc_itempick/troubleshooting.html | 6 ++-- rc_reason_general/load_carrier_setup.html | 22 +++++++-------- rc_reason_general/overview.html | 6 ++-- rc_reason_general/troubleshooting.html | 6 ++-- rc_silhouette/getting_started.html | 18 ++++++------ rc_silhouette/overview.html | 8 +++--- rc_silhouette/template_generation.html | 10 +++---- rc_silhouette/troubleshooting.html | 8 +++--- rc_urcap/boxpick.html | 6 ++-- rc_urcap/cadmatch.html | 6 ++-- rc_urcap/expertfunctions.html | 6 ++-- rc_urcap/gettingstarted.html | 6 ++-- rc_urcap/handeyecalibration.html | 6 ++-- rc_urcap/itempick.html | 6 ++-- rc_urcap/overview.html | 6 ++-- rc_urcap/rc_visard.html | 6 ++-- rc_urcap/sampleprogram.html | 6 ++-- rc_urcap/silhouette.html | 6 ++-- rc_urcap/troubleshooting.html | 6 ++-- rc_visard_general/data_recording.html | 8 +++--- rc_visard_general/network_setup.html | 20 +++++++------- rc_visard_general/opencv_example.html | 8 +++--- rc_visard_general/overview.html | 6 ++-- rc_visard_general/parameters.html | 12 ++++---- rc_visard_general/projector.html | 10 +++---- robot/measureapplicationaccuracy.html | 8 +++--- robot/overview.html | 6 ++-- search.html | 6 ++-- 87 files changed, 189 insertions(+), 189 deletions(-) diff --git a/.buildinfo b/.buildinfo index 445fb7f..9db794f 100644 --- a/.buildinfo +++ b/.buildinfo @@ -1,4 +1,4 @@ # Sphinx build info version 1 # This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done. -config: 02590dcaba27d1bff2ccc78fbef9f1ca +config: f960bbb9c9bf6682e89e079725f23e9f tags: 645f666f9bcd5a90fca523b33c5a78b7 diff --git a/_raw_sources/robot/measureapplicationaccuracy.rst.txt b/_raw_sources/robot/measureapplicationaccuracy.rst.txt index b2868da..1467ee3 100644 --- a/_raw_sources/robot/measureapplicationaccuracy.rst.txt +++ b/_raw_sources/robot/measureapplicationaccuracy.rst.txt @@ -27,13 +27,13 @@ The program includes the KUKA KRL src and dat file and a printable version of th Program overview ---------------- -The robot will trigger an AprilTag detection and move to the target on the robot test grid. -In an ideal world the position of the tool tip should be exactly in the middle of the target and the +The robot will trigger an AprilTag detection and move to the target on the robot test grid. +In an ideal world the position of the tool tip should be exactly in the middle of the target and the orientation should be perpendicular to the AprilTags. .. raw:: html -

+

.. _robot-measure_application_accuracy_overview: @@ -42,7 +42,7 @@ orientation should be perpendicular to the AprilTags. :align: center Overview of the test setup - + .. _robot-measure_application_accuracy_pointing: .. figure:: ../images/robot/measure_application_accuracy_pointing.jpg :width: 450px @@ -69,9 +69,9 @@ Measure application accuracy #. Measure the deviation of the tool tip on the target with a ruler or a caliper gauge. .. note:: - Pro tip: To measure the translational deviation, the tool can be pushed into the cardboard by manually - moving the robot in tool frame. To do this, move the tool in the direction of the Z axis until the tip - of the tool pierces the cardboard. Then, move the robot back again and remove the robot test grid from the cell. + Pro tip: To measure the translational deviation, the tool can be pushed into the cardboard by manually + moving the robot in tool frame. To do this, move the tool in the direction of the Z axis until the tip + of the tool pierces the cardboard. Then, move the robot back again and remove the robot test grid from the cell. Now you can easily measure the deviation using a caliper gauge. Troubleshooting @@ -98,18 +98,18 @@ The following points show possible causes and give hints how to solve them. .. toggle-header:: :header: **Wiggling robot or calibration grid during hand-eye calibration** - After the robot has reached the calibration pose, the robot or the calibration grid might still wiggle a bit. + After the robot has reached the calibration pose, the robot or the calibration grid might still wiggle a bit. To reduce this effect, wait a second before recording the calibration pose. .. toggle-header:: :header: **Inaccurate robot** - The repeatability of most industrial robots is very good, usually in the sub-millimeter range. - However, very few industrial robots are world calibrated. This means that the distance between - two points in the robot world differs from the real distance in the world. This absolute accuracy + The repeatability of most industrial robots is very good, usually in the sub-millimeter range. + However, very few industrial robots are world calibrated. This means that the distance between + two points in the robot world differs from the real distance in the world. This absolute accuracy is needed when driving to a position that is given by a vision system. - If the coordinate system of the robot does not perfectly match the world, such deviations may occur. - This is reflected in the hand-eye calibration error and the accuracy that is measured with the described method. + If the coordinate system of the robot does not perfectly match the world, such deviations may occur. + This is reflected in the hand-eye calibration error and the accuracy that is measured with the described method. For this reason, some robot manufacturers offer to calibrate the robot to the world. 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Index