Controlling iiwa from MATLAB, testing KST
The repository of the toolbox is provided with several practical examples. To test the KST, control KUKA iiwa from Matlab, you can run one of the script examples provided in the repository.
In this tutorial the user is going to move the EEF of the robot in arcs by running the example KSTclass_Tutorial_examples.m by following the steps:
- Make sure that you have followed the steps in the Getting started page.
- Open Matlab, and change the working directory of Matlab to the folder Matlab_client.
- Open the file KSTclass_Tutorial_examples.m.
- Make sure that you substitute the correct IP of your iiwa controller into the line shown in the following figure:
- Run the MatlabToolboxServer application from the teach pendant of the robot. You have 60 seconds to connect to the robot from Matlab.
- Before the 60 seconds has elapsed, run the example script KSTclass_Tutorial_examples.m.
- The robot shall move in circles.
Warning: Make sure that nothing and no one is in collision course with the robot during the test, the software is provided as is, under MIT license, the author is not liable for any kind of accident nor any kind of damage.