RoboDK to MATLAB Joint Position Transformation

Abstract

This paper is focused on investigating a new approach for collecting the data about robot’s position and orientation from the RoboDK software in which the robot’s movement is simulated. The code, as well as the GUI (Graphical User Interface) was developed using MATLAB environment and connection between the two software packages was achieved through the TCP (Transmission Control Protocol) internet protocol. Robot model used for this purpose is the Unimation’s PUMA 560 industrial robot which can be found in the online library of the RoboDK. Information regarding robot joint angles is important for planning the robot’s movement and generating the trajectory between the two positions, so it could be of use to have all the position/orientation vectors listed for further calculations. Drawback of the RoboDK software is the inability to generate the trajectory so the goal of this project is to avoid that problem with the help of the MATLAB software.