Matlab Fanuc Robot Control

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

Sample values to run in Matlab2Fanuc.m; demonstrates how to use Tool Frame 2:

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

];