KSTclass_Tutorial_move_ptp.m

%% Example of using KST class for interfacing with KUKA iiwa robots

% An example script, it is used to show how to use the different
% functions of the KUKA Sunrise Toolbox
% First start the server on the KUKA iiwa controller
% Then run the following script in Matlab

% This example works with Sunrise application version KST_1.7  and higher.
% Copyright Mohammad SAFEEA, 26th-June-2018

close all;clear;clc;
warning('off')
%% Create the robot object
ip='172.31.1.147'; % The IP of the controller
arg1=KST.LBR7R800; % choose the robot iiwa7R800 or iiwa14R820
arg2=KST.Medien_Flansch_elektrisch; % choose the type of flange
Tef_flange=eye(4); % transofrm matrix of EEF with respect to flange
iiwa=KST(ip,arg1,arg2,Tef_flange); % create the object

%% Start a connection with the server
flag=iiwa.net_establishConnection();
if flag==0
    return;
end
pause(1);
disp('Doing some stuff')
   
%% move to initial position
jPos_init={0,pi*20/180,0,-pi*70/180,0,pi*90/180,0}; % initial confuguration
relVel=0.15; % relative velocity
iiwa.movePTPJointSpace(jPos_init, relVel); % point to point motion in joint space

%% PTP motion
jPos={};
homePos={};
[ jPos ] = iiwa.getJointsPos(); % get current joints position

for ttt=1:7  % home position
homePos{ttt}=0;
end

pause(0.1)
relVel=0.15;
iiwa.movePTPJointSpace(homePos, relVel); % go to home position
pause(0.1)
iiwa.movePTPJointSpace(jPos, relVel); % return back to previous position

%% turn off the server
iiwa.net_turnOffServer(  );