End-Effector Setup
The widget for end-effector configuration allows users to specify the camera's mounting setup in relation to the robot's flange. Options include a selection from predefined camera mount designs like under-slung, over-slung, in-line, or the creation of a custom setup.
In Lensmaster, the positioning of the camera is determined by the sensor's coordinates in relation to the robot flange and the lens longitudinal axis. It's assumed that the sensor aligns with the lens axis.
A 3D model showing the complete mounting setup is available within the widget for user feedback. The widget also support saving and loading different end-effector configurations for specific shooting scenarios.
Camera Mount Geometry
An overview of the general dimensions needed to fully setup the camera on the robot for various configurations is shown below. Note that the Y-measurement offset for the sensor is the horizontal offset between the lens central axis and the robot flange.
THE SIDE-MOUNT CONFIGURATION
In the side mount configuration, the camera is mounted from its left or right side.
The X distance is measured from the sensor to the robot's flange center, and the Z distance is measured from the lens axis to the robot flange ccenter.
Camera Mount Configurations Description
Mount Configuration | Description |
|---|---|
Under-Slung | Positions the camera below the robot flange. |
Over-Slung | Positions the camera above the robot flange. |
In-Line | Aligns the camera lens axis with the robot's flange axis. |
Side-Mount | Attaches the camera left or right sides to the robot's flange adapter. |
Model-Mover | Attaches a 3D object to the robot flange. |