Matlab Fanuc Kinect

Special thanks for Andrew Schoer, Joshua Remba, Pradosh Kharel and Ian Sekiguchi for contributing to this page.

• MatlabFanucKinect.zip

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
  • % -------------------------------------------------------------------------