have there been any missions conducted to study it?
Yes - 'New Horizons' was launched on January 19, 2006 -the first spacecraft to explore the Kuiper belt
Exploration
On January 19, 2006, the first spacecraft to explore the Kuiper belt, "New Horizons", was launched, which flew by Pluto on July 14, 2015. Beyond the Pluto flyby, the mission's goal was to locate and investigate other, farther objects in the Kuiper belt.

large objects ( 10 m) in space originating from a region between jupiter and mars Asteroid belt can you explain its structure? Asteroids become darker and redder with age due to space weathering. Composition is calculated from three primary sources: albedo, surface spectrum, and density. how is it classified into groups? Orbital classification; Quasi-satellites and horseshoe objects ; Spectral classification can you name a belt with similar properties? Kuiper belt who discovered this? David Jewitt
Yes On January 19, 2006, the first spacecraft to explore the Kuiper belt, "New Horizons", was launched, which flew by Pluto on July 14, 2015. Yes, in the late 2010s, a design study by Glen Costigan and colleagues. Yes, the "New Horizons" was the first spacecraft to explore the Kuiper elt.
Kuiper belt Kuiper belt Kuiper belt
Exploration Design studies and concept missions Exploration
On January 19, 2006, the first spacecraft to explore the Kuiper belt, "New Horizons", was launched, which flew by Pluto on July 14, 2015. In the late 2010s, a design study by Glen Costigan and colleagues discussed orbital capture and multi-target scenarios for Kuiper belt objects. On January 19, 2006, the first spacecraft to explore the Kuiper belt, "New Horizons", 
wiki:7687807
Kuiper belt [SEP] Exploration
PT2 was out of the running before the Pluto flyby. On August 26, 2015, the first target, (nicknamed "Ultima Thule" and later named 486958 Arrokoth), was chosen. Course adjustment took place in late October and early November 2015, leading to a flyby in January 2019. On July 1, 2016, NASA approved additional funding for "New Horizons" to visit the object.