Difference between revisions of "Matlab Fanuc Kinect"
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Source Code Description: | Source Code Description: | ||
*Calibration.m: | *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 CalibrationDone.mat | |
| − | + | **% which contains transformation matrix T. Stores image data for post processing in | |
| − | + | **% calibrationInput.mat | |
*Kinect2SharedMem2Matlab.m: | *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. | |
*Matlab2Fanuc.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. | *Matlab2Fanuc.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 | |
| − | + | **% ------------------------------------------------------------------------- | |
Revision as of 18:57, 27 October 2015
Special thanks for Andrew Schoer, Joshua Remba, Pradosh Kharel and Ian Sekiguchi for contributing to this page.
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 CalibrationDone.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.
- Matlab2Fanuc.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
- % -------------------------------------------------------------------------
