Difference between revisions of "Matlab Fanuc Robot Control"

From ESE497 Wiki
Jump to navigationJump to search
Line 12: Line 12:
  
  
 
+
Sample values to run in Matlab2Fanuc.m; demonstrates how to use Tool Frame 2:
 
  <nowiki>values_to_send = [  [392.5 88.4 -236.3 -90 0 -90 1 0]; ...  % Go to X,Y,Z but 3" from marker
 
  <nowiki>values_to_send = [  [392.5 88.4 -236.3 -90 0 -90 1 0]; ...  % Go to X,Y,Z but 3" from marker
 
                     [0 0 0 -63.6 -135 0 1 2]; ...          % Orient Tool
 
                     [0 0 0 -63.6 -135 0 1 2]; ...          % Orient Tool

Revision as of 22:35, 1 August 2016

<mediaplayer>FILE:2015-10-02_16.53.54.flv</mediaplayer>IMG 1188.JPG

Example of moving the robot to a specific location from Matlab:

  • Place marker and metal can exactly as shown above
  • Turn on Robot
    • Menu -> Setup -> Frames
      • Verify Tool Frame 1 is set to [0,0,0]
      • Verify Tool Frame 2 is set to [0,0,95.3] so that the TCP is at the end of the gripper
    • Launch LV_COM_FRM on Teaching Pendant following instructions at Fanuc_How_Tos,_FAQ,_etc.#FAQ
    • Download FanucLabviewKinect.zip from Matlab Fanuc Kinect
  • Run Matlab2Fanuc.m


Sample values to run in Matlab2Fanuc.m; demonstrates how to use Tool Frame 2:

values_to_send = [  [392.5 88.4 -236.3 -90 0 -90 1 0]; ...  % Go to X,Y,Z but 3" from marker
                    [0 0 0 -63.6 -135 0 1 2]; ...           % Orient Tool
                    [0 0 3*25.4 0 0 0 1 2]; ...             % Move In
                    [0 0 0 0 0 0 0 2]; ...                  % Close Gripper
                    [0 0 -3*25.4 0 0 0 0 2]; ...            % Move Out
                    [350 -200 0 -90 0 -90 1 0]; ...         % Move to trash can and open gripper
                    ];