KCT: a MATLAB toolbox for motion control of KUKA robot manipulators

— The Kuka Control Toolbox (KCT) is a collection of MATLAB functions for motion control of KUKA robot manipulators, developed to offer an intuitive and high-level programming interface to the user. The toolbox, which is compatible with all 6 DOF small and low payload KUKA robots that use the Eth.RSIXML, runs on a remote computer connected with the KUKA controller via TCP/IP. KCT includes more than 30 functions, spanning operations such as forward and inverse kinematics computation, point-to-point joint and Cartesian control, trajectory generation, graphical display and diagnostics. The flexibility, ease of use and reliability of the toolbox is demonstrated through two applicative examples.

• Type: Journal
• Year: 2010
• Where: ICRA
• Authors: Francesco Chinello, Stefano Scheggi, Fabio Morbidi, Domenico Prattichizzo
• Keywords: ICRA 2010, Kuka Control Toolbox, KUKA Robot Manipulators, Kuka Robots, Robotics