Kuka KR3

Model and simulation in MATLAB of the Kuka KR3 R540 robot.

A kinematic analysis was done as part of the Robotics course at UFSC (Federal University of Santa Catarina, Brazil), and is available in Portuguese in 'doc' folder.

Requirements

• MATLAB Mathworks Software
• Robotics Toolbox for MATLAB 10.2.1, available at http://petercorke.com/wordpress/toolboxes/robotics-toolbox

How to use

The Example.m file contains the code needed to simulate a specific robot position.

kr3Init - Robot startup

The function initializes the parameters of the Kuka KR3 R540 manipulator robot.

kr3Init(f)

%    Arguments:
% 	      f =  tool positioning vector in mm
%               * opcional parameter, default [0 0 0]
%
%    Action:
%           Creates a global variable named kr3 containing all parameters

The global variable created by the kr3Init function is a SerialLink object that can be manipulated through the Robotics Toolbox functions. To do this, you must declare it:

global kr3

kr3FK - Forward kinematics of the robot

Calculation of the forward kinematics homogeneous matrix of the robot, given a position vector of the joints.

kr3FK(angulosDH)

%    Arguments:
% 	      angulosDH = joint angles vector in degrees (Denavit-Hartemberg)
%                       * opcional parameter, default [0 -90 90 80 0 0]
%
%    Return:
%           Homogeneous matrix of the forward kinematics

kr3IK - Inverse kinematics of the robot

Calculates the inverse kinematics of the manipulator robot. An array with angles in degrees (Denavit-Hartemberg) is returned, where each line represents a valid solution.

kr3IK(mat)

%    Arguments:
% 	        mat = 4 x 4 homogeneous matrix
%
%    Return:
%           Joint angles vector in degrees (Denavit-Hartemberg)

kr3Teach - Graphical teach pendant

The function allows the user to manipulate the robot using a graphical interface.

kr3Teach(q)

%    Arguments:
% 	      q = joint angles vector in degrees (Denavit-Hartemberg)
%                       * opcional parameter, default [0 -90 90 80 0 0]
%
%    Action:
%           Creates figure for robot manipulation

License

GNU General Public License v3.0

Authors

Júlio J. da Costa Neto

Luiz O. Limurci dos Santos