# Setup Examples

## Application I_Align to Base

In this application, one camera is looking at a part which is affixed onto a stage, the goal of this application is to bring part to its golden pose in run time.

Category | Item | Parameter
--- | --- | ---
Part | Quantity | 1
Camera | Camera Quantity | 1
Camera Shuttling | /
Hand-eye Calibration | Calibration Type | Stationary Camera
Calibration Target | Checkerboard
Vision Guided or Motion Guided | Vision Guided
Feature Finding | Feature Type | 1 Point
Alignment | Align Technique | Align To Base
Align Type | Center Using Golden Pose

The configuration of this application is as follow:

## Application II_Align To Gripper

In this application, two cameras are looking at a part which is affixed onto a stationary platform, after the vision system detects the part's pose, a robot will adjust its position based on the vision system's feedback and then pick the part up.

Category | Item | Parameter
--- | --- | ---
Part | Quantity | 1
Camera | Camera Quantity | 2
Camera Shuttling | /
Hand-eye Calibration | Calibration Type | Stationary Camera
Calibration Target | Checkerboard
Vision Guided or Motion Guided | Motion Guided
Feature Finding | Feature Type | 2 Point
Alignment | Align Technique | Align To Gripper
Align Type | Center Using Golden Pose

The configuration of this application is as follow:

## Application III_Two Stages Alignment

In this application, two parts are affixed onto two stages, two cameras fore each stage. The first part is aligned to its golden pose using 4-point features which requires camera shuttling, the second part is aligned to its golden pose using 2-point features. After both are aligned respectively, the two parts are assembled together.

Category | Item | Stage1 Parameter | Stage2 Parameter
--- | --- | --- | ---
Part | Quantity | 1 | 1
Camera | Camera Quantity | 2 | 2
Camera Shuttling | Pos0, Pos1 | /
Hand-eye Calibration | Calibration Type | Stationary Camera | Stationary Camera
Calibration Target | Checkerboard | Part
Vision Guided or Motion Guided | Vision Guided | Vision Guided
Cross Calibration | Type | Camera Shuttling | /
Calibration Target | Checkerboard | /
Feature Finding | Feature Type | 4 Point | 2 Point
Alignment | Align Technique | Align To Base | Align To Base
Align Type | Center Using Golden Pose | Center Using Golden Pose

The configuration of this application is as follow:

## Application IV_Assembly Blind Transfer

In this application, one part is place on a stage, the other is placed on a stationary platform. The stage has only one camera, so does the platform. The first part aligns its pose based on the second part's run time pose using paired features, and then blindly transferred to the second part's side where they will be assembled.

Category | Item | Stage1 Parameter | Stage2 Parameter
--- | --- | --- | ---
Part | Quantity | 1 | 1
Camera | Camera Quantity | 1 | 1
Camera Shuttling | / | /
Hand-eye Calibration | Calibration Type | Stationary Camera | /
Calibration Target | Checkerboard | /
Vision Guided or Motion Guided | Vision Guided | /
Cross Calibration | Type | / | Cross Station Calibration
Calibration Target | / | Checkerboard
Feature Finding | Feature Type | 1 Point | 1 Point
Alignment | Align Technique | Assembly Blind Transfer
Align Type | Center Using Paired Features

The configuration of this application is as follow:

## Application V_Assembly Guided Pick

In this application, both parts are placed on stationary platforms, the first part at the picking station, the second part is at the placing station. In calibration time, robot run moving hand-eye calibration over the picking station, and then runs a cross calibration to bridge two stations. In run time, the vision system calculates the target pose for robot to pick up the part at correct position. Then the part is moved to the placing station where the two parts will be assembled together.

Category | Item | Stage1 Parameter | Stage2 Parameter
--- | --- | --- | ---
Part | Quantity | 1 | 1
Camera | Camera Quantity | 2 | 2
Camera Shuttling | / | /
Hand-eye Calibration | Calibration Type | Moving Camera | /
Calibration Target | Checkerboard | /
Vision Guided or Motion Guided | Vision Guided | /
Cross Calibration | Type | / | Cross Station Calibration
Calibration Target | / | Checkerboard
Feature Finding | Feature Type | 2 Point | 2 Point
Alignment | Align Technique | Assembly Guided Pick
Align Type | Center Using Paired Features

The configuration of this application is as follow:

## Application VI_Assembly Guided Place

In this application, both parts are placed on stationary platforms, the first part is the picking station, second part is at the placing station. During calibration, robot runs a moving hand-eye calibration over the picking station, and then runs a cross calibration to bridge two stations. In run time, the vision system calculates the target pose of robot for it to adjust its position after blindly picking up the first part. The part is then moved to the second part's side where the two parts will be assembled.

Category | Item | Stage1 Parameter | Stage2 Parameter
--- | --- | --- | ---
Part | Quantity | 1 | 1
Camera | Camera Quantity | 1 | 1
Camera Shuttling | Pos0, Pos1 | Pos0, Pos1
Hand-eye Calibration | Calibration Type | Moving Camera | /
Calibration Target | Checkerboard | /
Vision Guided or Motion Guided | Vision Guided | /
Cross Calibration | Type | Camera Shuttling | Mixed Cross Calibration
Calibration Target | Checkerboard | Checkerboard
Feature Finding | Feature Type | 2 Point | 2 Point
Alignment | Align Technique | Assembly Guided Place
Align Type | Center Using Golden Pose

The configuration of this application is as follow: