KUKA Sunrise Toolbox for Matlab
A Toolbox used to control KUKA iiwa robots :robot:, the 7R800 and the 14R820, from an external computer using Matlab.
Using the KST the utilizer can control the iiwa robot from his/her computer using Matlab's simple syntax, without requiring any skills nor knowledge about programming the controller of the industerial manipulator.
A basic knowledge of using Matlab is required.
Video tutorials on how to utilize the toolbox
- Video tutorials on KST version 1.7 are available here :point_left: .
- Video tutorials on KST version 1.6 are available here :point_left: .
The newer version of KUKA Sunrise Toolbox (KST-1.7) provides a wrapper class that wraps the various functions of the earlier version (KST-1.6) in the file (KST.m). As such earlier version of KST works interchangeably with the newer version 1.7. And the user has the freedom of choice to utilize KST-1.7 or KST-1.6 according to his/her own preference.
Video Gallery
Video demos where MATLAB and KST are used to control iiwa manipulator are :point_right: available here :point_left: . The video examples range from pick & place applications where kinect camera is utilized for objects recognition and localization, to realtime collision avoidance with coworker/dynamic-obstacles in practical robotic cell. Other examples show how to control the manipulator from 3D simulation software or by using external hardware, and more.
Useful Links
- Controlling KUKA iiwa from Python :point_right: available here.
- Controlling KUKA iiwa from Simulink :point_right: available here.
- If you do not have the Sunrise.Servoing library but you still want to use MATLAB for controlling KUKA iiwa you can use the package :point_right: in here.
- Advanced examples on using KST for controlling KUKA iiwa :point_right: available here.
Package Content
| Path | Content description |
|---|---|
| KUKA_Sunrise_server_source_code/ | Java source code for IIWA controller. |
| Matlab_client/ | Matlab code for KST. |
| OtherFlavours/ | Other versions of KST. |
| Other_MATLAB_functionalities/ | Hand-guiding/Physical-interaction functions. |
| Tips and tricks/ | Documentation for enhancing network performance on PC. |
| realTimeControlDrawCircle/ | Demo on trajectory generation/IK/on-the-fly control. |
| realTimeControlDrawEllipse/ | Demo on trajectory generation/IK/on-the-fly control. |
| realTimeControl_iiwa_from_Vrep/ | Demo, using KST with V-rep to control iiwa robot. |
| realtimeControlOfEEFGamePad/ | Teleoperation, control EEF from GamePad. |
| realtimeControlOfJoint...../ | Teleoperation, control joints from GamePad. |
| SunriseGUIinterface/ | Friendly GUI for controlling iiwa from MATLAB. |
| iiwa_CNCPlotter/ | Use IIWA as CNC Plotter. |
Citations
Please cite the following article in your publications if it helps your research :pray: :
@ARTICLE{Safeea2019,
Author={M. {Safeea} and P. {Neto}},
Journal={IEEE Robotics Automation Magazine},
Title={KUKA Sunrise Toolbox: Interfacing Collaborative Robots With MATLAB},
Year={2019},
Volume={26},
Number={1},
Pages={91-96},
doi={10.1109/MRA.2018.2877776},
ISSN={1070-9932},
Month={March},
}Acknowledgments
This research was partially supported by: The Portuguese Foundation for Science and Technology (FCT) SFRH/BD/131091/2017 and the European Union's Horizon 2020 research and innovation programme under grant agreement No 688807 - ColRobot project.