Interfacing Matlab with the collaborative robot UR3

This thesis is part of a bigger project on cobots. Cobots are collaborative robotic arms with sensors and control on motor currents to work with humans in safety. Though they are already collaborative the project wants to implement a vision control system for changing in real-time the path behavior, therefore improving the safety. The focus of this text is to study the interconnection protocols between robot and computer. In particular how control a robot UR3, produced by Universal Robot, from Matlab. To achieve the target also a study of Python has been done. As result a series of libraries to control the robot from Matlab and Python have been written together a collection of examples for using them.