Development of a MATLAB Toolbox for Robot Sensor Interface (RSI) Communication with KUKA KR6 R900 SIXX and Validation by Inverse Kinematics Approach

摘要

This paper discusses the development of a MATLAB toolbox for Robot Sensor Interface (RSI) communication with KUKA KR6 R900 SIXX then to validate the received joint values through RSI by mathematically calculating the joint values using Denavit-Hartenberg (DH) convention, transformation matrices and Euler angles approaches. Using this toolbox, it was possible to control different models of manipulators by changing their DH parameters in the MATLAB program and to control simultaneous robots by changing their IP addresses in the MATLAB program instead of broadcasting the control messages to all addresses in the network segment range. It was possible to control different models of manipulators by changing their DH parameters in the MATLAB program and to control simultaneous robots by changing their IP addresses in the MATLAB program instead of broadcasting the control messages to all addresses in the network segment range.