Title :
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
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;
Conference_Titel :
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
978-1-4244-5038-1
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2010.5509415
