Matlab Fanuc Kinect

Source Code for communication between Kinect Camera and Fanuc Robot

• Special thanks for Andrew Schoer, Joshua Remba, Pradosh Kharel and Ian Sekiguchi for contributing to this page.
• Before you launch Matlab, as administrator:
  • Open a Command Prompt
  • cd c:\Program Files (x86)\Windows Resource Kits\Tools
  • Type C:\Program Files (x86)\Windows Resource Kits\Tools>ntrights -u ACCOUNTS\<wustl key> +r SeLockMemoryPrivilege
• Use H:\* instead of \\warehouse.* for your Matlab working directory. If you browse to your home directory on the H: drive and double click on Kinect2SharedMem2Matlab.m this will happen automatically.
• Zip file

Source Code Description:

• Calibration.m:
  • % Script to calibrate the Kinect Camera to the Fanuc Robot
  • % Moves robot to 64 locations and locates X in Kinect image and then computes
  • % the transformation matrix between the Kinect and Robot. Creates TransMatrix.mat
  • % which contains transformation matrix T. Stores image data for post processing in
  • % calibrationInput.mat
• Kinect2SharedMem2Matlab.m:
  • % Example script to acquire images from the Kinect camera in Matlab
  • % -------------------------------------------------------------------------
  • % Kinect class uses a slightly modified Microsoft Kinect SDK application
  • % DepthWithColor-D3 and SharedMemDLL.dll to stream images from the Kinect camera
  • % to this script. This script initializes the shared memory and then launches
  • % DepthWithColor-D3.exe. DepthWithColor-D3 connects to the **% shared memory
  • % and starts streaming RGB and depth images to it.
  • % This is preferable to using the KinectForWindowsExample.m because
  • % DepthWithColor-D3 aligns the RGB and Depth images.
• Matlab2FanucExample.m: Send a series of movements to the Fanuc Robot using TCP/IP. Run LabVIEWMatlabFanuc\LabVIEWMatlabFanuc.vi and LV_COM_FRM on the Fanuc Robot first.
  • % Example script to move robot with Matlab commands. Runs on computer
  • % connected to Robot or on a remote computer
  • % -------------------------------------------------------------------------
  • % Launch the teaching pendant program LV_COM_FRM before launching this script.
  • % See: http://classes.engineering.wustl.edu/ese497/index.php/Fanuc_How_Tos,_FAQ,_etc.#FAQ
  • % for detailed instructions.
  • % -------------------------------------------------------------------------
  • % Messages are sent from this script to the LabVIEWMatlabFanuc.exe to
  • % communicate the new position of the robot. The first 4 bytes of
  • % the message are the length of the message in ASCII and that the message
  • % is floating point numbers delimited by commas. You need to wait until it
  • % receives an 'Ack' message back from LabVIEW.
  • % -------------------------------------------------------------------------
  • % If this is the computer that also communicates with the robot, then set
  • % host to 'localhost'. In this case, the script will launch
  • % LabVIEWMatlabFanuc.exe. This is the application that receives message
  • % over TCP/IP from this script and communicates the coordinates to the
  • % program running on the robot.
  • % If this is NOT the computer that communicates with the robot, then set
  • % host to 'fanucomp.seasad.wustl.edu' or whatever the IP is for that
  • % computer. You will have to manually run LabVIEWMatlabFanuc.exe on that
  • % computer and set the IP to this computer's address. You have to stop the
  • % application to change the IP. The application also starts minimized so
  • % you'll have to find it in the taskbar.
  • % -------------------------------------------------------------------------
  • % Matlab to LabVIEW communication based on
  • % http://www.mathworks.com/matlabcentral/fileexchange/42567-matlab-and-labview-data-exchange-over-tcp-ip
  • % Modified to pre-pend the length the the xmit string and to return the
  • % received message as a string
  • % -------------------------------------------------------------------------
• TestCalibration.m:
  • % Script to test the calibration of the Kinect Camera to the Fanuc Robot
  • % Moves robot to random locations and locates X in Kinect image.
  • % The calculated position of the Fanuc, based on the Kinect and Transformation matrix,
  • % is then compared to the position that the Fanuc was sent to.
• Miscellaneous Functions
  • Kinect.m:
    • % Class for communicating with the Kinect Camera. Uses SharedMemDLL.dll and DepthWithColor-D3D.
  • proj2cart.m: Convert from Kinect projection to cartesian coordinates. Best FOVx,FOVy is 63.1,49.6.
    • % Converts from Camera Pixel Coordinates and Real World Depth to
    • % RealWorld x,y,z
    • % In order to convert Kinect Coordinates to FANUC Coordinates:
      • % 1.) Convert Kinect Coordinates to Cartesian using proj2cart function
      • % 2.) Transponse Cartesian Coordinates to Column Vectors
      • % 3.) Append One as 4th element in Column Vector
      • % 4.) Multiply Column Vector(s) by Transform Matrix, T
  • Kinect Projection to Cartesian Conversion.docx
    • % Details of proj2cart.m function
  • absor.m
    • % Tool for calibrating 2 coordinate systems from
    • % Author: Matt Jacobson
    • % Copyright, Xoran Technologies, Inc. http://www.xorantech.com
  • CreateTemplates.m
    • % Creates templates for X and + images
  • DepthFilter.m
    • % Median filter for depth
  • Double2CSV.m
    • % Converts array of doubles to commma separated string
  • exchangeData.m
    • % transmits data over TCP/IP to LabVIEW program. Used to send robot coordintates.
  • DepthWithColor-D3D
    • % Slightly modified Microsft Kinect SDK example based on their example code DepthWithColor-D3D
    • % This is preferable to the KinectForWindows.m example because it solves the RGB/Depth registration
    • % issues.
  • LabVIEW2Fanuc
    • % LabVIEW source code and Application to pass commands from Matlab over TCP/IP to the Fanuc Robot using
    • % the NI Ethernet/IP toolkiit. LV_COM_FRM must be launched on the Teaching Pendant to complete the communication
  • SharedMem\SharedMemDLL
    • % Microsoft C++ built DLL to pass images in a large shared memory between 2 applications
  • TeachingPendantProgram
    • % Source code for LV_COM_FRM that is launched from the teaching pendant to communicate with the LabVIEW2Fanuc Application
  • RGB Depth Registration.docx
    • % Document with pictures of depth registration using KinectForWindowsExample.m and my Kinect class