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.
F., C., S., S., F., M., Prattichizzo, D. (2010). KCT: a MATLAB toolbox for motion control of KUKA robot manipulators. In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA) (pp.4603-4608). IEEE [10.1109/ROBOT.2010.5509415].
KCT: a MATLAB toolbox for motion control of KUKA robot manipulators
PRATTICHIZZO, DOMENICO
2010-01-01
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.
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https://hdl.handle.net/11365/33182
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