This article presents an open-source MATLAB toolbox for the motion control of KUKA robot manipulators. The KUKA Control Toolbox (KCT) is a collection of MATLAB functions developed at the Univer sity of Siena. The toolbox, which is compatible with all 6 degrees of freedom (DoF) small and low-payload KUKA robots that use the Eth.RSIXML, runs on a remote computer connected with the KUKA controller via transmission control Protocol/Internet Protocol (TCP/IP). KCT includes more than 40 functions, spanning operations such as forward and inverse kine matics computation, point-to-point joint and Cartesian control, trajectory gen eration, graphical display, three-dimensional (3-D) animation and diagnostics. Applicative examples show the flexibility of KCT and its easy interfacing with other toolboxes and external devices.

Chinello, F., Scheggi, S., F., M., Prattichizzo, D. (2011). KUKA Control Toolbox. IEEE ROBOTICS AND AUTOMATION MAGAZINE, 18(4), 69-79 [10.1109/MRA.2011.942120].

KUKA Control Toolbox

CHINELLO, FRANCESCO;SCHEGGI, STEFANO;PRATTICHIZZO, DOMENICO
2011-01-01

Abstract

This article presents an open-source MATLAB toolbox for the motion control of KUKA robot manipulators. The KUKA Control Toolbox (KCT) is a collection of MATLAB functions developed at the Univer sity of Siena. The toolbox, which is compatible with all 6 degrees of freedom (DoF) small and low-payload KUKA robots that use the Eth.RSIXML, runs on a remote computer connected with the KUKA controller via transmission control Protocol/Internet Protocol (TCP/IP). KCT includes more than 40 functions, spanning operations such as forward and inverse kine matics computation, point-to-point joint and Cartesian control, trajectory gen eration, graphical display, three-dimensional (3-D) animation and diagnostics. Applicative examples show the flexibility of KCT and its easy interfacing with other toolboxes and external devices.
Chinello, F., Scheggi, S., F., M., Prattichizzo, D. (2011). KUKA Control Toolbox. IEEE ROBOTICS AND AUTOMATION MAGAZINE, 18(4), 69-79 [10.1109/MRA.2011.942120].
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11365/7503
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo