# KUKA Sunrise Toolbox: Interfacing Collaborative Robots with MATLAB

arXiv: https://arxiv.org/abs/1709.01438 · HTML: https://mlsanity.com/paper/1709.01438/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 5 Sep 2017.

## Built on by (most cited first, 2 of 2)

- [Online Recognition of Incomplete Gesture Data to Interface Collaborative Robots](https://mlsanity.com/paper/2304.06777/) (2023)
- [A Q-learning approach to the continuous control problem of robot inverted pendulum balancing](https://mlsanity.com/paper/2312.02649/) (2023)

## Abstract (arXiv)

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.