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

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.