A Toolbox used to control KUKA iiwa robots, 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 without a need for programming the industerial manipulator.
A basic knowledge of using Matlab is required.
- Video tutorials on KST version 1.7 are available here.
- Video tutorials on KST version 1.6 are available here
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 demos where MATLAB and KST are used to control iiwa manipulator are available here. 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, to controlling the manipulator from 3D simulation software or by using external hardware, and more.
| 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. |
Please cite the following article in your publications if it helps your research:
@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},}
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.
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