Collaborative robot UR5e interface library for Matlab/Simulink

This thesis describes the process of creating a function library which will enable easy control of a UR5e robot and its model using the Matlab environment. It was made using object based programming. Library functions were designed for two separate modes, each controlling either the robot or the model. Functions for RG2 gripper control and for collision detection, which prevents the robot from colliding with itself, are also part of the library. The resulting library is designed in a way that allows the robot to be easily used for measuring, project work or as a teaching tool by simply adding its functions to already existing data processing scripts or those performing other calculations. Finally, three example tasks are presented to demonstrate the application of this library