FANUC LR-MATE 200IC

USC AME Controls-Robotics LAB

AME ROBOTICS GROUP

Who We Are: Undergrad & Grad Students of AME Dept.

Captain: Keyvan Noury (PhD student)

Advisors: Prof. Yang & Prof. Flashner

Sponsor: Viterbi Eng. School & MathWorks

Web Link:
http://ame-www.usc.edu/ControlProblem/

OBJECTIVES
To develop and learn modeling techniques for
dynamic analysis and control of multi-linkage
robotic systems.
To learn basic MATLAB and Visual Basic
programming for real-time control of the Fanuc
robotic system, and to combine MATLAB with
software packages like SolidWorks and Sim
Mechanics.
To learn basic knowledge on control of feedback
control of robotic systems.
To update new course materials for AME 441 and
443 (undergraduate lab courses).

UNDERGRADUATE COURSES RELATED

AME 441 Senior Projects: This Fanuc robot has
lots of potential to be taught in this class.
Projects like image processing and data
acquisition can be defined on this robot. Along
with different operations that can be
programmed on the robots interface.
AME 443 Control Lab: There are good
opportunities to define control loops for the
robots actions. One of the sensors that can help
us is the camera on top. Other sensors can be
implemented and used to measure the
coordinates such as gyros and accelerometers.

CONNECTIONS OF THE ROBOT

Fanuc LR-Mate 200 iC

CONTROL BLOCK DIAGRAM

MATLAB

Visual
Basic

PCDK
libraries

Robot
Controller

MATLAB
is used to
calculate
or
generate
the
coordinate
s 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.

Detecting the Objects In an Image

The coordinate of items
relative to the
calibration grid frame
and model id numbers are
sorted in the table below
iRvision's screen:

Sorting Objects in a Line

Take image

MATLAB-IP

Detect the Predetermined

Shape Object Coordinates
VB
Program

MATLAB

Sort from Smaller to Larger

Sorted

Random

CAD 3-D MODEL

Computer Based Model

SolidWorks

Sim Mechanics

MATLAB

Visual
Basic

DATA ACQUISITION (DAQ)

Sensor
attached to the
robot

System Variables
They determine the robots motions.

Through
SVs we
can get
access to:
-Position
-Velocity
-Acceleration
-Torques
-User frames
-Run time
-
Scroll Down
for more
Scroll Down
for more

INNOVATIVE PROJECTS

Model the robot in the CAD environment and then

transfer the model into SimMechanics environment, and
through it, calculate the torques that are necessary to hold
things in robots hand. The required torques are calculated
for all joints.
Implement sensors for the gripper and through the DAQ
(data acquisition) calculate the velocity and acceleration at
each moment.
Implement a better camera for the robot either on the
gripper or enhance the camera quality for the accuracy of
the obtained coordinates of the objects below the camera.
Different programs (like the sorting program) to have
different functioning with the robot.
Dissect the 73,000 system variables that are controlling
the robots motions.