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KUKA Control Toolbox

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4 Author(s)
Chinello, F. ; Dept. of Inf. Eng., Univ. of Siena, Siena, Italy ; Scheggi, S. ; Morbidi, F. ; Prattichizzo, D.

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.

Published in:

Robotics & Automation Magazine, IEEE  (Volume:18 ,  Issue: 4 )