{"id":128589,"date":"2025-07-23T16:41:10","date_gmt":"2025-07-23T08:41:10","guid":{"rendered":"https:\/\/www.tm-robot.com\/?post_type=docs&#038;p=128589"},"modified":"2025-09-05T11:40:43","modified_gmt":"2025-09-05T03:40:43","slug":"how-to-use-dh-inspection-project","status":"publish","type":"docs","link":"https:\/\/www.tm-robot.com.cn\/ko\/docs\/how-to-use-dh-inspection-project\/","title":{"rendered":"How To Use DH Inspection Project"},"content":{"rendered":"<p>Examples are valid for:<br \/>\nTMflow Software version: 2.14 or above.<br \/>\nTM Robot Hardware version: HW 3.2 or above versions<\/p>\n<p>Project Example : <a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/DH_Inspection_Project.zip\">DH_Inspection_Project<\/a><br \/>\nOther specific requirements: None<br \/>\nNote that older or newer software versions may have different results.<\/p>\n<hr \/>\n<h1>Purpose<\/h1>\n<ul>\n<li>Long-term use, collisions, or overloading of the robot can cause small changes in link length or joint angles.<\/li>\n<li>This may lead to incorrect DH parameters and affect the robot&#8217;s accuracy.<\/li>\n<li>In this article, the built-in camera is used to detect pixel shifts of the Landmark, allowing for the detection and rough estimation\u00a0 of robot&#8217;s accuracy.<\/li>\n<\/ul>\n<h1>Environment Setting<\/h1>\n<p>Place the Landmark in a fixed position relative to the robot, ensuring that the built-in camera can capture the Landmark without being affected by any tools attached to the robot flange.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh-1-1.png\"><img loading=\"lazy\" class=\"aligncenter wp-image-128608\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh-1-1.png\" alt=\"\" width=\"535\" height=\"713\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh-1-1.png 744w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh-1-1-225x300.png 225w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh-1-1-360x480.png 360w\" sizes=\"(max-width: 535px) 100vw, 535px\" \/><\/a><\/p>\n<h1>Import Project and Global Variable<\/h1>\n<p>Import project \u201cDH_Inspection_Project\u201d.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh2.png\"><img loading=\"lazy\" class=\"aligncenter wp-image-128620\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh2.png\" alt=\"\" width=\"1115\" height=\"591\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh2.png 1901w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh2-300x159.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh2-1024x543.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh2-768x407.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh2-360x191.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh2-1536x814.png 1536w\" sizes=\"(max-width: 1115px) 100vw, 1115px\" \/><\/a><\/p>\n<p>Import Global Variable, select import from project and choose this project<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh3.png\"><img loading=\"lazy\" class=\"aligncenter wp-image-128626\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh3.png\" alt=\"\" width=\"1164\" height=\"617\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh3.png 1901w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh3-300x159.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh3-1024x543.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh3-768x407.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh3-360x191.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh3-1536x814.png 1536w\" sizes=\"(max-width: 1164px) 100vw, 1164px\" \/><\/a><\/p>\n<p>Import variable \u201cg_Initial_RobotBase_Point\u201d,\u201dg_LM_Pixel_Initial\u201d and \u201cg_threshold\u201d.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh4.png\"><img loading=\"lazy\" class=\"aligncenter wp-image-128632\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh4.png\" alt=\"\" width=\"1193\" height=\"639\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh4.png 1882w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh4-300x161.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh4-1024x548.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh4-768x411.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh4-360x193.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh4-1536x823.png 1536w\" sizes=\"(max-width: 1193px) 100vw, 1193px\" \/><\/a><\/p>\n<h1>TMflow Setting<\/h1>\n<p>Define a camera position to locate the Landmark and ensure clear detection. The position can be adjusted as needed based on tool length or environmental constrains, as long as the Landmark\u2019s pixel coordinates can be reliably detected.<\/p>\n<p>&nbsp;<\/p>\n<p>Enter Setting and edit \u201cInitial_Point\u201d, overwrite this point with Landmark capture position.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh5.png\"><img loading=\"lazy\" class=\"aligncenter wp-image-128638\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh5.png\" alt=\"\" width=\"1287\" height=\"690\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh5.png 1882w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh5-300x161.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh5-1024x548.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh5-768x411.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh5-360x193.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh5-1536x823.png 1536w\" sizes=\"(max-width: 1287px) 100vw, 1287px\" \/><\/a><\/p>\n<p>Edit inspection vision job \u201dDetect_LM\u201d to detect the Landmark, ensuring that the Landmark is clearly visible and stable.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh6.png\"><img loading=\"lazy\" class=\"aligncenter wp-image-128644\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh6.png\" alt=\"\" width=\"1298\" height=\"695\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh6.png 1882w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh6-300x161.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh6-1024x548.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh6-768x411.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh6-360x193.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh6-1536x823.png 1536w\" sizes=\"(max-width: 1298px) 100vw, 1298px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h1>Run Project<\/h1>\n<p>Next, run the project and execute Set_Up as the initial configuration.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh7.png\"><img loading=\"lazy\" class=\"aligncenter wp-image-128650\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh7.png\" alt=\"\" width=\"1308\" height=\"736\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh7.png 1365w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh7-300x169.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh7-1024x576.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh7-768x432.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh7-360x203.png 360w\" sizes=\"(max-width: 1308px) 100vw, 1308px\" \/><\/a><\/p>\n<p>If Set_Up Fail occurs, it indicates that the Landmark detection is unstable. Please re-identify the Landmark and perform Set_Up again.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh8.png\"><img loading=\"lazy\" class=\"aligncenter wp-image-128656\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh8.png\" alt=\"\" width=\"1297\" height=\"730\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh8.png 1365w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh8-300x169.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh8-1024x576.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh8-768x432.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh8-360x203.png 360w\" sizes=\"(max-width: 1297px) 100vw, 1297px\" \/><\/a><\/p>\n<p>If Set_Up Success appears, it indicates that the setup is complete and a threshold value has been generated to serve as the reference for DH checking.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh9.png\"><img loading=\"lazy\" class=\"aligncenter wp-image-128662\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh9.png\" alt=\"\" width=\"1320\" height=\"743\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh9.png 1365w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh9-300x169.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh9-1024x576.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh9-768x432.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh9-360x203.png 360w\" sizes=\"(max-width: 1320px) 100vw, 1320px\" \/><\/a><\/p>\n<p>If a decrease in the robot positioning accuracy is observed, and a collision or DH inaccuracy is suspected, run the Check_DH process in this project to verify whether the error exceeds threshold 0.5 pixels. If the exceeds 0.5 pixels, it indicates an abnormal detection. Please contact the manufacturer or distributor to proceed with the robot verification process.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh10.png\"><img loading=\"lazy\" class=\"aligncenter wp-image-128668\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh10.png\" alt=\"\" width=\"1322\" height=\"744\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh10.png 1365w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh10-300x169.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh10-1024x576.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh10-768x432.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/07\/dh10-360x203.png 360w\" sizes=\"(max-width: 1322px) 100vw, 1322px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Examples are valid for: TMflow Software version: 2.14 or above. TM Robot Hardware version: HW 3.2 or above versions Project Example : DH_Inspection_Project Other specific requirements: None Note that older or newer software versions may have different results. Purpose Long-term use, collisions, or overloading of the robot can cause small changes in link length or [&hellip;]<\/p>\n","protected":false},"author":8760,"featured_media":0,"parent":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"doc_category":[4148],"doc_tag":[],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v16.9 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>How To Use DH Inspection Project | Techman Robot<\/title>\n<meta name=\"robots\" content=\"noindex, follow\" \/>\n<meta property=\"og:locale\" content=\"ko_KR\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"How To Use DH Inspection Project | Techman Robot\" \/>\n<meta property=\"og:description\" content=\"Examples are valid for: TMflow Software version: 2.14 or above. 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