A Matlab-based framework for the remote control of a 6-DOF robotic arm for education and research in control theory

The paper provides an overview on the 6-DOF robot manipulator for control education and research at a robotic lab at TU-Dortmund. The Matlab-based framework for a safe and reliable remote operation of a standard industrial robotic manipulator enables students and researchers to conduct experiments in robotics and control in efficient and productive manner. In addition to an overview of the robot and the control framework the paper reports on the experiments of several student theses and project groups conducted in the past few years. The outlook sketches some challenges and perspectives for future utilization of the control framework in the context of students education and research.