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1、IEEEROBOTICSANDAUTOMATIONMAGAZINE,SUBMITTEDFORPUBLICATIONASAREGULARPAPER,SEPTEMBER20,20101TheKUKAControlToolbox:motioncontrolofKUKArobotmanipulatorswithMATLABFrancescoChinello,StefanoScheggi,FabioMorbidi,DomenicoPrattichizzoAbstract—TheKUKAControlToolbox(KCT)isacollection?lteringtasks
2、,etc.),anditdoesnotallowaneasyintegrationofMATLABfunctionsdevelopedattheUniversityofSiena,ofexternalmodulesandhardware(e.g.,camerasorembeddedformotioncontrolofKUKArobotmanipulators.Thetoolbox,devicesthatusestandardprotocols:USB,Firewire,PCI,etc.).whichiscompatiblewithall6DOFsmallandlo
3、w-payloadApossiblewaytoovercomethesedrawbacksistobuildKUKArobotsthatusetheEth.RSIXML,runsonaremotecomputerconnectedwiththeKUKAcontrollerviaTCP/IP.KCTaMATLABabstractionlayerupontheKRL.A?rststepincludesmorethan40functions,spanningoperationssuchastowardsthisdirectionhasbeentakenbyaMATLAB
4、toolbox,forwardandinversekinematicscomputation,point-to-pointjointcalledKuka-KRL-Tbx,recentlydevelopedattheUniversityandCartesiancontrol,trajectorygeneration,graphicaldisplay,ofWismar[12].Theauthorsuseaserialinterfacetoconnect3-Danimationanddiagnostics.ApplicativeexamplesshowthetheKUK
5、ARobotController(KRC)witharemotecomputer?exibilityofKCTanditseasyinterfacingwithothertoolboxesandexternaldevices.whereMATLABisinstalled.AKRLinterpreterrunningontheKRC,realizesabi-directionalcommunicationbetweenI.INTRODUCTIONtherobotandtheremotecomputeranditisresponsiblefortheidenti?ca
6、tionandexecutionofalltheinstructionsthatA.Motivationandrelatedworkaretransmittedviatheserialinterface.Kuka-KRL-TbxoffersMATLAB[1]isapowerfulandwidelyusedcommer-ahomogeneousenvironmentfromtheearlydesigntothecialsoftwareenvironmentfornumericalcomputation,statisticoperationphase,andaneas
7、yintegrationofexternalhardwareanalysisandgraphicalpresentation,availableforalargenum-components.Inaddition,itpreservesthesecuritystandardsberofplatforms.Speci?ctoolboxes(i.e.,collectionsofdedica-guaranteedbytheKRL(workspacesupervision,checkoftedMATLABfunctions)havebeendevelopedinthepa
8、stfew
