• DocumentCode
    3729082
  • Title

    MATLAB Toolbox implementation and interface for motion control of KUKA KR6- R900-SIXX robotic manipulator

  • Author

    H. L. Elshatarat;R. Biesenbach;M. Bani Younus;T. A. Tutunji

  • Author_Institution
    Mechatronics Engineering Department, Electronics Engineering Department, Hochschule Bochum, Germany
  • fYear
    2015
  • Firstpage
    12
  • Lastpage
    15
  • Abstract
    MATLAB Toolbox functions and communication tools are developed, interfaced, and tested for the motion control of KUKA KR6-R900-SIXX.. This KUKA manipulator has a new controller version that uses KUKA.RobotSensorInterface s KUKA.RobotSensorInterface package to connect the KUKA controller with a remote PC via UDP/IP Ethernet connection. This toolbox includes many functions for initialization, networking, forward kinematics, inverse kinematics and homogeneous transformation.
  • Keywords
    "MATLAB","Manipulators","Protocols","Sensor systems","Manufacturing"
  • Publisher
    ieee
  • Conference_Titel
    Research and Education in Mechatronics (REM), 2015 16th International Conference on
  • Type

    conf

  • DOI
    10.1109/REM.2015.7380367
  • Filename
    7380367
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3729082