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The FANUC robot is a LRMate 6 axis robotic arm with R30iA Mate controller.
The robot can be controlled using a teaching pendant.
THe teaching pendant is used to increment each joint
angle. The speed of the robot can also be changed here.
Visual
Basic
PCDK
libraries
Robot
Controller
MATLAB is
used to
calculate or
generate
the
coordinates
of the end
effector
The
coordinates
are then
transferred
to VB where
the program
to move the
robot is
written.
The
compilation
of the
program
uses the
PCDK
libraries to
call the
required
functions.
The
program is
then
transferred
to the robot
controller,
which
moves the
robot.
Code's Structure
First we made buttons on the form and the by defining
some functions for those buttons we tried to program
the robots motion.
Outlines:
1) Through IP gets Connected
2) Joint angles are determined
3) Gripper position is determined
4) End effector is moved
iRvision
Put the IP in
the address bar
Created as a new
Calibration Tool
Focal distance is an
important parameter,
which can be found
from Fujinon's
catalogue. It has to be
right to give us correct
"Z" height.
Read it from
Fujinons
Catalogue
Coordinates
of
Calibration
Points
Y
Origin
From "Vision Process tools" section open up a new "2D single view
locator". We named it "FRIDAY" as you can see the name in the picture.
In the following slides we are going to adjust the adjustments to get the
desired locating tool to detect the position of objects below the camera
relative to Cal Grid:
This button is for creation of Vision
Process tools. Because of software
issues, it has no specific shape on it.
Created as 2D
single view locator
process tool
Red box
search
window
1)Teach Pattern
2)Set Origin
3)Set Search Window
Not detected
because its out of
the search window
Finding
Model ID 1
Not detected
because of low
contrast
Finding
Model ID 1
Finding
Model ID 2
Example:
In this random
image, we want to
detect objects of
model id 1 among
the other objects:
Not detected
because its out of
the search window
The directory in
which the FTP
generated picture
is.