KCT: a MATLAB toolbox for motion control of KUKA robot manipulators

Author

Chinello, Francesco ; Scheggi, Stefano ; Morbidi, Fabio ; Prattichizzo, Domenico

Author_Institution

Dept. of Inf. Eng., Univ. of Siena, Rome, Italy

fYear

2010

fDate

3-7 May 2010

Firstpage

4603

Lastpage

4608

Abstract

The Kuka Control Toolbox (KCT) is a collection of MATLAB functions for motion control of KUKA robot manipulators, developed to offer an intuitive and high-level programming interface to the user. The toolbox, which is compatible with all 6 DOF small and low payload KUKA robots that use the Eth.RSIXML, runs on a remote computer connected with the KUKA controller via TCP/IP. KCT includes more than 30 functions, spanning operations such as forward and inverse kinematics computation, point-to-point joint and Cartesian control, trajectory generation, graphical display and diagnostics. The flexibility, ease of use and reliability of the toolbox is demonstrated through two applicative examples.

Keywords

control engineering computing; manipulator kinematics; mathematics computing; motion control; position control; user interfaces; Cartesian control; KUKA robot manipulators; Kuka control toolbox; Matlab toolbox; forward kinematics computation; graphical display; high-level programming interface; inverse kinematics computation; motion control; point-to-point joint control; spanning operations; trajectory generation; Computer displays; MATLAB; Manipulators; Manufacturing industries; Motion control; Motion planning; Orbital robotics; Programming profession; Robotics and automation; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2010 IEEE International Conference on

Conference_Location

Anchorage, AK

ISSN

1050-4729

Print_ISBN

978-1-4244-5038-1

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2010.5509415

Filename

5509415