KUKA Sunrise Toolbox: Interfacing Collaborative Robots with MATLAB
This provides a practical tool for researchers and engineers working with KUKA robots, but it is incremental as it builds on existing interfaces.
The paper tackled the problem of interfacing KUKA collaborative robots with MATLAB by developing the KUKA Sunrise Toolbox (KST), which provides over 50 functions for networking, real-time control, and motion, and demonstrated its capabilities in three use cases.
Collaborative robots are increasingly present in our lives. The KUKA LBR iiwa equipped with the KUKA Sunrise.OS controller is a good example of a collaborative/sensitive robot. This paper presents a MATLAB Toolbox, the KUKA Sunrise Toolbox (KST), to interface KUKA Sunrise.OS using MATLAB. The KST contains functionalities for networking, real-time control, point-to-point motion, setters and getters of parameters and physical interaction. KST includes more than 50 functions and runs on a remote computer connected with the KUKA Sunrise controller via transmission control Protocol/Internet Protocol (TCP/IP). The KST potentialities are demonstrated in three use cases.