Difference between revisions of "Matlab Fanuc Robot Control"

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** Download FanucLabviewKinect.zip from [[Matlab Fanuc Kinect|Matlab Fanuc Kinect]]
 
** Download FanucLabviewKinect.zip from [[Matlab Fanuc Kinect|Matlab Fanuc Kinect]]
 
* Run Matlab2Fanuc.m
 
* Run Matlab2Fanuc.m
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values_to_send = [  [392.5 88.4 -236.3 -90 0 -90 1 0]; ...  % Go to X,Y,Z but 3" from marker
 
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
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                     [350 -200 0 -90 0 -90 1 0]; ...        % Move to trash can and open gripper
 
                     [350 -200 0 -90 0 -90 1 0]; ...        % Move to trash can and open gripper
 
                     ];
 
                     ];
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Revision as of 20:39, 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

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 ];