RoBO-2L, a Matlab interface for extended offline programming of KUKA industrial robots

摘要

This RoBO-2L is an Open-Source Matlab Toolbox, which allows to control KUKA industrial robots with the standard Matlab Environment. By its use, the restricted amount of the original program commands is extended through the broad command set of a modern programming language. Complex programs can be organized and implemented much easier. Additionally the systems becomes open for the integration of a wide range of peripheral Hard- and Software, which are originally not supported by the manufacturer. This contribution describes the implementation of the communication interface between an external PC and the KUKA KRC4 robot controller via UDP/IP protocol. The communication inside the robot controller is managed by the KUKA Robot Sensor Interface (RSI) Software package. RoBO-2L includes different functions for example forward and inverse kinematics and functions for controlling, visualization or tracking the robot motions. This opens new possibilities, like the usage of advanced Matlab functions like Computer Vision or Simulink. By the inclusion of RoBO-2L with standard industrial robots, the research in Human Machine Interaction (HMI) can be applied with robots which are not original designed for it. Research on that field becomes more accessible for Universities.