KUKA Control Toolbox

Francesco Chinello, Stefano Scheggi, Fabio Morbidi, Domenico Prattichizzo
2011 IEEE robotics & automation magazine  
T his 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 University 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,
more » ... nning operations such as forward and inverse kinematics computation, point-to-point joint and Cartesian control, trajectory generation, 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.
doi:10.1109/mra.2011.942120 fatcat:qwt4lo36rbgh3pxapzic3tcfte