Design and implementation of a RoBO-2L MATLAB toolbox for a motion control of a robotic manipulator

Abstract

Modern industrial automation has become nowadays inextricably linked with the mechatronic system of the industrial robot. These robots are programmed using a cumbersome well-chosen program commands prescribed in a complicated programming language. This paper describes the implementation of a Robot Offline Programming Toolbox (RoBO-2L) functions and communication tools. This toolbox is interfaced, and tested for the motion control of KUKA KR6-R900-SIXX as a Master project in Hochschule Bochum, Germany. This KUKA manipulator has a new controller version that uses 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. SysML is used for the design and implementation of the MATLAB Toolbox which eases the effort of the programming and integration of the interdisciplinary functions and methods.