Robot Interface
The control system was interfaced with a FANUC robot (LR Mate 200iC) through Matlab and LabVIEW. An adjustable mode control scheme was employed to obtain a versatile work envelope with 3 degrees of freedom (X, Y, Z) and a gripper using just five movements. Four of the five movements actuate the robot and the last movement toggles between modes. With this system, the user successfully controlled the robot to grab a cup.
Matlab Code:
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The Fanuc New scripts establish communication pathways between Matlab, LabVIEW, and the robot. In 'startRobot.m', the classified signals are translated into robot movements based on the robot configurations (see System GUI). For the X, Y, and Z functions, one classified movement (500ms window) moves the robot 30mm in the desired direction. For the gripper, one classified movement switches the gripper on or off (1/0). The mode is toggled sequentially (i.e. 1->2->3->1).