MATLAB toolbox design, implementation and interfacing for motion control of KUKA KR6-R900-SIXX robotic manipulator

Other Title(s)

تصميم و تطبيق و ربط أدوات برمجية الماتلاب للتحكم بحركة كوكا روبوت KR6-R900-SIXX

Dissertant

al-Shatarat, Hani Lafi Yusuf

Thesis advisor

Bani Yunus, Muhammad

Comitee Members

Tutunji, Tariq A.
Bakr, Mundhir Numan
al-Rawashidah, Nadhir A.

University

Philadelphia University

Faculty

Faculty of Engineering

Department

Department of Mechatronics Engineering

University Country

Jordan

Degree

Master

Degree Date

2016

English Abstract

The KUKA manipulator has a new controller version that uses KUKA.RobotSensorInterface pack-age to connect the KUKA controller with a remote PC via UDP/IP Ethernet connection.

A MATLAB Toolbox with its functions and communication tools has been developed to be inter-faced, and tested for the motion control of KUKA KR6-R900-SIXX.

This toolbox includes func-tions for computing the forward kinematics, inverse kinematics, homogeneous transformation, mo-tion control.

In the forward kinematics methods, there were two different transformation matrices to deal with the DH-parameterization and MDH-parameterization.

There were also two different solutions derived for the inverse kinematic problems; the closed-form solution for the Cartesian motion and angle-axis motion.

The Pieper’s solution method was derived based on the geometrical aspects of the mechanical design of the KUKA robotic manipulator to avoid nonlinearities problems in the closed-form solution. The Toolbox was tested by applying two different applications to check the performance of the toolbox.

The first application was GUI window built in MATLAB software to allow the user to have the ability to move the robotic manipulator to any desired position in its workspace by clicking buttons on the screen or by typing the desired position inside the GUI window.

The second applica-tion was to connect an XBOX controller with USB port of the remote PC to move the robotic ma-nipulator to any desired position. An application written in C# programming language was used to build a communication channel via UDP/IP Ethernet for transmitting data from a remote PC to the KUKA robotic manipulator and vice versa.

The network socket programming methods was used for programming the connection between them.

Results are obtained for are the positions of manipulator joints of the robot

Main Subjects

Mechanical Engineering

No. of Pages

89

Table of Contents

• APA
• MLA
• AMA

Language

English

Data Type

Arab Theses

Record ID

BIM-725531