About:

The code in this folder shows how to utilize KUKA Sunrise Toolbox for controlling KUKA IIWA (from an external computer using MATLAB) while updating a V-rep simulation of the exact motion of the real robot in real-time.

This project contains two subfolders:

• 7R800: contains the project for KUKA iiwa 7R800.
• 14R820: contains the project for KUKA iiwa 14R820.

The main files of the project are:

KSTclass_Sim_while_Robot_moving.m: MATLAB script file (follow the instructions in the file to start the execution). Sim_while_Robot_moving.ttt: V-rep simulation scene.

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Citations

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},  
}

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Copyright: Mohammad Safeea, 18-Oct-2019