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Merge pull request #145 from missirol/master
[assembly] latest version of assembly/ application
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,82 @@ | ||
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| # Sensor Ref-Point = edge of fiducial marker measured with Pattern Recognition | ||
| # Spacer Ref-Point = edge of spacer in correspondence with the Sensor Ref-Point | ||
| # Baseplate Ref-Point = edge [...] | ||
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| #################################### | ||
| ### DIMENSIONS ##################### | ||
| #################################### | ||
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| # dimensions: thickness of assembly components | ||
| Thickness_VacuumCups 0.000 | ||
| Thickness_Baseplate 0.000 | ||
| Thickness_PSS 0.700 | ||
| Thickness_PSP 0.700 | ||
| Thickness_Spacer 1.600 | ||
| Height_SpacerSlots 0.000 | ||
| Thickness_GlueLayer 0.030 | ||
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| #################################### | ||
| ### POSITIONS ###################### | ||
| #################################### | ||
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| # position: Camera pointing to Sensor Ref-Point (using reference mark on platform to place sensor) | ||
| RefPointSensor_X -69.0283 | ||
| RefPointSensor_Y -77.4945 | ||
| RefPointSensor_Z -62.7329 | ||
| RefPointSensor_A -0.307 | ||
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| # position: camera on spacer's Ref-Point (bottom-left edge, in camera view) (spacer aligned along x-axis) | ||
| RefPointSpacer_X -61.258 | ||
| RefPointSpacer_Y -78.749 | ||
| RefPointSpacer_Z -63.137 | ||
| RefPointSpacer_A -90.157 | ||
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| # position: camera on baseplate's Ref-Point (baseplate aligned along x-axis) | ||
| RefPointBaseplate_X -63.278 | ||
| RefPointBaseplate_Y -67.390 | ||
| RefPointBaseplate_Z -62.769 | ||
| RefPointBaseplate_A -0.069 | ||
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| # position: Z-position (height) to put pickup tool in contact with rotation stage | ||
| PickupToolOnRotStage_Z 0.00 | ||
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| # position: XYZ-position with pickup tool in contact with glue-dispensing platform | ||
| PickupToolOnGluingStage_X 0.00 | ||
| PickupToolOnGluingStage_Y 0.00 | ||
| PickupToolOnGluingStage_Z 0.00 | ||
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| # position: z-position where camera is focused on Gluing Stage surface | ||
| CamerFocusOnGluingStage_Z -50.0 | ||
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| #################################### | ||
| ### DISTANCES ###################### | ||
| #################################### | ||
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| # distance: Angle of Camera Frame in the XY Motion Stage Ref-Frame [deg] | ||
| AngleOfCameraFrameInRefFrame_dA -89.5954 | ||
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| # distance: from Sensor Ref-Point to Sensor Pickup position | ||
| FromSensorRefPointToSensorPickup_dX 88.00 | ||
| FromSensorRefPointToSensorPickup_dY 37.00 | ||
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| # distance: from PS-p Ref-Point to PS-s Ref-Point | ||
| FromPSPRefPointToPSSRefPoint_dX 1.25 | ||
| FromPSPRefPointToPSSRefPoint_dY 0.00 | ||
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| # distance: from Spacer Ref-Point to Sensor Ref-Point | ||
| FromSpacerRefPointToSensorRefPoint_dX 0.85 | ||
| FromSpacerRefPointToSensorRefPoint_dY 0.75 | ||
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| # distance: from Baseplate Ref-Point to PS-p Ref-Point | ||
| FromBaseplateRefPointToPSPRefPoint_dX 1.60 | ||
| FromBaseplateRefPointToPSPRefPoint_dY -10.65 | ||
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| # distance: dZ distance to go from Z position where camera provides best-focus on object, | ||
| # to Z position where free pickup-tool (i.e. with no other objects attached) touches the object | ||
| # - empirical value calibrated with multi-pickup tests | ||
| FromCameraBestFocusToPickupHeight_dZ -31.85 | ||
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| # distance: XY distance from 'final position to lower PSs+Spacers onto PSp' to 'position to lower PSs+Spacers onto Gluing Stage' | ||
| FromPSPToPSSPosToGluingStage_dX -130.0 | ||
| FromPSPToPSSPosToGluingStage_dY 0.0 |
82 changes: 82 additions & 0 deletions
82
assembly/assembly/assembly_parameters_DAF_190326_balljoint.cfg
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,82 @@ | ||
|
|
||
| # Sensor Ref-Point = edge of fiducial marker measured with Pattern Recognition | ||
| # Spacer Ref-Point = edge of spacer in correspondence with the Sensor Ref-Point | ||
| # Baseplate Ref-Point = edge [...] | ||
|
|
||
| #################################### | ||
| ### DIMENSIONS ##################### | ||
| #################################### | ||
|
|
||
| # dimensions: thickness of assembly components | ||
| Thickness_VacuumCups 0.000 | ||
| Thickness_Baseplate 0.000 | ||
| Thickness_PSS 0.700 | ||
| Thickness_PSP 0.700 | ||
| Thickness_Spacer 1.600 | ||
| Height_SpacerSlots 0.000 | ||
| Thickness_GlueLayer 0.030 | ||
|
|
||
| #################################### | ||
| ### POSITIONS ###################### | ||
| #################################### | ||
|
|
||
| # position: Camera pointing to Sensor Ref-Point (using reference mark on platform to place sensor) | ||
| RefPointSensor_X -69.0283 | ||
| RefPointSensor_Y -77.4945 | ||
| RefPointSensor_Z -2.7629 | ||
| RefPointSensor_A -0.307 | ||
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| # position: camera on spacer's Ref-Point (bottom-left edge, in camera view) (spacer aligned along x-axis) | ||
| RefPointSpacer_X -61.368 | ||
| RefPointSpacer_Y -78.979 | ||
| RefPointSpacer_Z -3.154 | ||
| RefPointSpacer_A -90.157 | ||
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| # position: camera on baseplate's Ref-Point (baseplate aligned along x-axis) | ||
| RefPointBaseplate_X -64.278 | ||
| RefPointBaseplate_Y -67.99 | ||
| RefPointBaseplate_Z -3.169 | ||
| RefPointBaseplate_A -0.238 | ||
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| # position: Z-position (height) to put pickup tool in contact with rotation stage | ||
| PickupToolOnRotStage_Z 0.00 | ||
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| # position: XYZ-position with pickup tool in contact with glue-dispensing platform | ||
| PickupToolOnGluingStage_X 0.00 | ||
| PickupToolOnGluingStage_Y 0.00 | ||
| PickupToolOnGluingStage_Z 0.00 | ||
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| # position: z-position where camera is focused on Gluing Stage surface | ||
| CamerFocusOnGluingStage_Z -2.6538 | ||
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| #################################### | ||
| ### DISTANCES ###################### | ||
| #################################### | ||
|
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||
| # distance: Angle of Camera Frame in the XY Motion Stage Ref-Frame [deg] | ||
| AngleOfCameraFrameInRefFrame_dA -89.5954 | ||
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| # distance: from Sensor Ref-Point to Sensor Pickup position | ||
| FromSensorRefPointToSensorPickup_dX 86.00 | ||
| FromSensorRefPointToSensorPickup_dY 38.00 | ||
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| # distance: from PS-p Ref-Point to PS-s Ref-Point | ||
| FromPSPRefPointToPSSRefPoint_dX 1.25 | ||
| FromPSPRefPointToPSSRefPoint_dY 0.00 | ||
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| # distance: from Spacer Ref-Point to Sensor Ref-Point | ||
| FromSpacerRefPointToSensorRefPoint_dX 0.85 | ||
| FromSpacerRefPointToSensorRefPoint_dY 0.75 | ||
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| # distance: from Baseplate Ref-Point to PS-p Ref-Point | ||
| FromBaseplateRefPointToPSPRefPoint_dX 1.60 | ||
| FromBaseplateRefPointToPSPRefPoint_dY -10.65 | ||
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| # distance: dZ distance to go from Z position where camera provides best-focus on object, | ||
| # to Z position where free pickup-tool (i.e. with no other objects attached) touches the object | ||
| # - empirical value calibrated with multi-pickup tests | ||
| FromCameraBestFocusToPickupHeight_dZ -31.85 | ||
|
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||
| # distance: XY distance from 'final position to lower PSs+Spacers onto PSp' to 'position to lower PSs+Spacers onto Gluing Stage' | ||
| FromPSPToPSSPosToGluingStage_dX -130.0 | ||
| FromPSPToPSSPosToGluingStage_dY 0.0 |
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