KUKA Sunrise Toolbox: Interfacing Collaborative Robots With MATLAB

Abstract

Collaborative robots are increasingly present in our lives. The KUKA LBR iiwa, equipped with the KUKA Sunrise.OS controller, is one example of a collaborative/sensitive robot. This tutorial presents the KUKA Sunrise Toolbox (KST), a MATLAB toolbox that interfaces with KUKA Sunrise.OS. KST contains functionalities for networking, soft control in real time, point-to-point motion, parameter setters/getters, general purpose, and physical interaction. It includes approximately 100 functions and runs on a remote computer connected with the KUKA Sunrise controller via Transmission Control Protocol/Internet Protocol (TCP/IP). The potentialities of the KST are demonstrated in nine application examples.