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