A ToolBox for controlling KUKA iiwa robot from matlab.zip

# 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](https://www.youtube.com/playlist?list=PLz558OYgHuZd-Gc2-OryITKEXefAmrvae) :point_left: . * Video tutorials on KST version 1.6 are [available here](https://www.youtube.com/watch?v=_yTK0Gi0p3g&list=PLz558OYgHuZdVzTaB79iM8Y8u6EjFe0d8) :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](https://github.com/Modi1987/KST-Kuka-Sunrise-Toolbox/wiki/Videos) :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](https://github.com/Modi1987/iiwaPy). * Controlling KUKA iiwa from Simulink :point_right: [available here](https://github.com/Modi1987/Simulink-iiwa-interface). * 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](https://github.com/Modi1987/IIWAContorlToolbox). * Advanced examples on using KST for controlling KUKA iiwa :point_right: [available here](https://github.com/Modi1987/KST-advanced-examples). -------------------------------------- # Package Content Path | Content description -------------------------------------| ---------------------------------------------------------- [KUKA_Sunrise_server_source_code/][1]| Java source code for IIWA controller. [Matlab_client/][2] | Matlab code for KST. [OtherFlavours/][3] | Other versions of KST. [Other_MATLAB_functionalities/][4] | Hand-guiding/Physical-interaction functions. [Tips and tricks/][5] | Documentation for enhancing network performance on PC. [realTimeControlDrawCircle/][6] | Demo on trajectory generation/IK/on-the-fly control. [realTimeControlDrawEllipse/][7] | Demo on trajectory generation/IK/on-the-fly control. [realTimeControl_iiwa_from_Vrep/][8] | Demo, using KST with V-rep to control iiwa robot. [realtimeControlOfEEFGamePad/][9] | Teleoperation, control EEF from GamePad. [realtimeControlOfJoint...../][10] | Teleoperation, control joints from GamePad. [SunriseGUIinterface/][11] | Friendly GUI for controlling iiwa from MATLAB. [iiwa_CNCPlotter/][12] | Use IIWA as CNC Plotter. <!-- --------------------------------------------------------------------------------- --> <!-- Links in GitHub, --> [1]: /KUKA_Sunrise_server_source_code [2]: /Matlab_client [3]: /OtherFlavours [4]: /Other_MATLAB_functionalities [5]: /Tips%20and%20tricks [6]: /realTimeControlDrawCircle [7]: /realTimeControlDrawEllipse [8]: /realTimeControl_iiwa_From_Vrep [9]: /realtimeControlOfEEFGamePad [10]: /realtimeControlOfJointSpaceUsingGamePad [11]: /SunriseGUIinterface [12]: /iiwa_CNCPlotter -------------------------------------- # Citations Please cite the following article in your publications if it helps your research :pray: : ```javascript @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.