Análisis de factibilidad: comunicación y control de un manipulador robótico Kuka KR10R900SIXX a través de Tcp/Ip en un Pc Remoto

Enrique Fernando  Garcés Villacis; Johanna Belén  Pilco Domínguez; Diego Ramiro  Ñacato Estrella

Authors

Enrique Fernando Garcés Villacis Investigador externo https://orcid.org/0000-0002-4412-3526
Johanna Belén Pilco Domínguez Investigador externo https://orcid.org/0000-0001-7614-3196
Diego Ramiro Ñacato Estrella Escuela Superior Politécnica de Chimborazo https://orcid.org/0000-0002-7233-9076

Keywords:

Tool, methods, communication, controller, manipulator

Abstract

In this article, the interconnection between Matlab and the KUKA Model KR 10 R900 sixx robot, which is located at the Escuela Superior Politécnica de Chimborazo, is studied and subsequently tested, through the use of a tool in the Matlab software that will solve its inverse kinematics through a kinematic method executed in a script of the same. For better handling when sending data and verifying them. KUKA Control Toolbox (KCT) is a collection of MATLAB functions for motion control of KUKA robot manipulators, running on a remote computer connected to the KUKA controller via TCP/IP. Reference is made to many methods for the communication and control of the robotic manipulator to get the control of the robot by PC, one of them is also the RoboDK interface with which it has TCP/IP communication to interact with the IP of the KUKA KR10R900 robotic manipulator.

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