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Intera 3.2
Robot Positioning System
A: Yes.
Q: What do I do when a landmark is damaged?
A: Replace it with a new landmark and use the Overwrite feature in the landmarks gallery. Remem-
ber to overwrite the Landmark before removing it from the workspace.
Q: What do I do when I need to associate waypoints in a path to a Landmark?
A: It’s not currently possible to associate paths to a Landmark. Therefore, if you absolutely need to
make sure waypoints are associated to a Landmark, please turn these waypoints into Holds and
associate those to a Landmark.
Application Examples
Unloading Parts from a Rotary Table and Onto Conveyors
TASK DESCRIPTION
Baxter is working on a rotary table offloading parts from the table and placing them on conveyors to
either side of the robot using both arms. The rotary table has more than one nest where it will pick
parts from. The table and conveyor are on wheels and this line is constantly being moved. The engi-
neer doesn’t like to have to train the task every single time they have to move the line somewhere
else.
SOLUTION
Even though there is more than one nest on the rotary table, the pick location is the same for all of
them. Therefore landmarks only need to be applied on one of the nests and the conveyor belts.
1. Train PICK and PLACE for RIGHT arm.
2. Train PICK and PLACE for LEFT arm.
3. Position one landmark on each of the conveyors so that Baxter can clearly reach
and see them.
4. Position one landmark on each of the sides of one nest so that each of the arms
can reach and see its respective landmarks.
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