IRvision: By typing the 'IP'(192.168.1.18) of the robot controller on the address bar we can get access to the iRvision software:įirst of all we have to calibrate the images that we get from the camera by starting a new calibration procedure: This button is for creation of Camera Calibration tools, because of software issues, it has no specific shape on it. The coordinates of this user frame relative to world frame and joint position are in this picture:ĭefine your desired User Frame on Teach Pendant Also we want to take images and calibrate them.

According to this user frame we want to move the robot. Outlines: 1) Through IP gets Connected 2) Joint angles are determined 3) Gripper position is determined 4) End effector is moved The program is then transferred to the robot controller, which moves the robot.Ĭode'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. The compilation of the program uses the PCDK libraries to call the required functions. The coordinates are then transferred to VB where the program to move the robot is written. MATLAB is used to calculate or generate the coordinates of the end effector The speed of the robot can also be changed here. THe teaching pendant is used to increment each joint angle. The robot can be controlled using a teaching pendant. The FANUC robot is a LRMate 6 axis robotic arm with R30iA Mate controller.

Fanuc ir vision calibration