Smart fixture for a robotic workcell
A fixture having a memory containing information about one or more of a plurality of fiducials, a keep-out zone, and an interaction point. The fixture provides this information to a processor of a workcell during set-up.
1. A fixture to be used to perform an operation on an object in a robotic workcell, the fixture comprising:
a body having a three-dimensional (3D) coordinate system and comprising an interaction point configured to allow a robot arm module to place the object at the interaction point or retrieve the object from the interaction point while performing the operation;
a plurality of target items coupled to the body, each target item having a 3D position defined in the coordinate system; and
a memory coupled to the body and containing information comprising the 3D positions of the target items in the coordinate system, wherein the memory is configured to provide a portion of the information to a processor.
2. The fixture of claim 1 , wherein the plurality of target items comprises a fiducial having a first state and a second state, wherein the fiducial can move between the first state and the second state.
3. The fixture of claim 2 , wherein the fiducial can be manipulated to transmit an optical signal containing a portion of the information about the fixture.
4. The fixture of claim 2 , wherein the fiducial is configured to emit light having a certain range of wavelength in one of the first and second states.
5. The fixture of claim 2 , wherein the fiducial emits a first amount of light while in the first state and emits a second amount of light that is different from the first amount of light while in the second state.
6. The fixture of claim 1 , wherein the interaction point has a 3D position defined in the coordinate system and the information further comprises the 3D position and a characteristic of the interaction point.
7. A fixture to be used in a robotic workcell, the fixture comprising:
a body having a three-dimensional (3D) coordinate system;
a plurality of target items coupled to the body, each target item having a 3D position defined in the coordinate system;
a memory coupled to the body and containing information comprising the 3D positions of the target items in the coordinate system, wherein the memory is configured to provide a portion of the information to a processor; and
a keep-out zone having a definition in the coordinate system, wherein the information further comprises the definition of the keep-out zone.
8. A method of configuring a workcell that performs an operation on an object, the method comprising the steps of:
placing a fixture within an effective field-of-view (FOV) of a camera module of the workcell, wherein the fixture comprises an interaction point configured to allow a robot arm module to place the object at the interaction point or retrieve the object from the interaction point while performing the operation;
providing information to a processor of the workcell about a fiducial that is coupled to the fixture and a position of the fiducial within a coordinate system of the fixture;
observing the fixture with the camera module while the fiducial moves between a first state and a second state; and
determining a position and orientation of the fixture with respect to the robot arm module.
9. The method of claim 8 , wherein the information is retrieved from a memory that is coupled to the fixture.
10. The method of claim 8 , wherein the step of providing information comprises:
providing an identifier that is associated with the information that is stored in a remote memory, and
retrieving the information from the remote memory.
11. The method of claim 8 , further comprising the step of:
sending a command to the fixture to provide the information.
12. The method of claim 8 , wherein the information provided to the processor comprises information about a keep-out zone of the fixture.
13. The method of claim 8 , wherein the step of providing information comprises instructions on moving a fiducial that is coupled to the fixture between a first state and a second state so as to transmit an optical signal comprising the information.
14. The method of claim 8 , wherein:
the step of observing the fixture comprises determining a position of the fiducial within the FOV and providing the position of the fiducial within the FOV to the processor; and
the step of determining a position and orientation of the fixture is performed by the processor.
15. The method of claim 8 , wherein the fiducial emits a first amount of light while in the first state and emits a second amount of light that is different from the first amount of light while in the second state.