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
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"
Conference_Titel :
Research and Education in Mechatronics (REM), 2015 16th International Conference on
DOI :
10.1109/REM.2015.7380367
