KUKA Sunrise Toolbox: Interfacing Collaborative Robots With MATLAB

摘要

Collaborative robots are increasingly present in our lives. The KUKA LBR iiwaequipped with the KUKA Sunrise.OS controller is a good example of acollaborative/sensitive robot. This paper presents a MATLAB Toolbox, the KUKASunrise Toolbox (KST), to interface KUKA Sunrise.OS using MATLAB. The KSTcontains functionalities for networking, real-time control, point-to-pointmotion, setters and getters of parameters and physical interaction. KSTincludes more than 50 functions and runs on a remote computer connected withthe KUKA Sunrise controller via transmission control Protocol/Internet Protocol(TCP/IP). The KST potentialities are demonstrated in three use cases.