Difference between revisions of "Matlab Fanuc Robot Control"
From ESE497 Wiki
Jump to navigationJump to search| (36 intermediate revisions by 2 users not shown) | |||
| Line 1: | Line 1: | ||
| − | * | + | |
| + | |||
| + | {{#widget:Iframe | ||
| + | |url=https://wustl.app.box.com/embed/s/3dxalu5cy0q7sqtv7tejfakbeagqxd7w | ||
| + | |width=800 | ||
| + | |height=550 | ||
| + | |border=0 | ||
| + | }} | ||
| + | |||
| + | Example of moving the robot to a specific location from Matlab: | ||
| + | * Place marker and metal can exactly as shown above | ||
* Turn on Robot | * Turn on Robot | ||
** Menu -> Setup -> Frames | ** Menu -> Setup -> Frames | ||
*** Verify Tool Frame 1 is set to [0,0,0] | *** 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 | *** 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|Fanuc_How_Tos,_FAQ,_etc.#FAQ]] |
| − | ** | + | ** Download FanucLabviewKinect.zip from [[Matlab Fanuc Kinect|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 | ||
| + | ::::: ]; | ||
Latest revision as of 16:57, 3 August 2017
Error in widget Iframe: unable to write file /project/class-www/engineering/2017/fall/ese497/extensions/Widgets/compiled_templates/wrt672e03eb44c155_51737898
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
- ];
