Difference between revisions of "Matlab Fanuc Robot Control"
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Example of moving the robot to a specific location from Matlab: | Example of moving the robot to a specific location from Matlab: | ||
* Place marker and metal can exactly as shown above | * Place marker and metal can exactly as shown above | ||
Revision as of 16:50, 3 August 2017
Error in widget Iframe: unable to write file /project/class-www/engineering/2017/fall/ese497/extensions/Widgets/compiled_templates/wrt6748c67976f5e5_88394078
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
- Menu -> Setup -> Frames
- 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
- ];
