| The Kuka Control Toolbox (KCT) is a collection of MATLAB functions developed at the University of Siena, for motion control of KUKA robot manipulators. The toolbox, which is compatible with all 6 DOF small and low payload KUKA robots that use the Eth.RSIXML, runs on a remote computer connected with the KUKA controller via TCP/IP. KCT includes more than 40 functions, spanning operations such as forward and inverse kinematics computation, point-to-point joint and Cartesian control, trajectory generation, graphical display, 3-D animation and diagnostics. Applicative examples show the flexibility and reliability of KCT, and its easy integration with other toolboxes to perform complex motion and vision tasks. |
