TL;DR
The paper introduces the KUKA Sunrise Toolbox, a MATLAB-based software suite that enables seamless control and interaction with KUKA Sunrise.OS collaborative robots, facilitating real-time operations and parameter management.
Contribution
It presents a comprehensive MATLAB toolbox for interfacing with KUKA Sunrise.OS, including over 50 functions for networking, control, and physical interaction, demonstrated through practical use cases.
Findings
Enables real-time control of KUKA Sunrise robots via MATLAB
Provides over 50 functions for robot interfacing and control
Successfully demonstrated in three practical use cases
Abstract
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.
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