A ToolBox for controlling KUKA iiwa robot from matlab:
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KUKA_Sunrise_server_source_code Updated 8th-August-2018 Aug 8, 2018
Matlab_client gravity-compensation vector Nov 25, 2018
OtherFlavours gravity-compensation vector Nov 25, 2018
Other_MATLAB_functionalities Source code is added Jun 4, 2018
SunriseGUIinterface Updated Aug 2, 2018
Tips and tricks Recommendation for Ubuntu May 4, 2018
WikiImages ip highligt in the example KSTclass_Tutorial_circles.m Aug 2, 2018
iiwa_CNCPlotter Link to Youtube tutorials is added Nov 10, 2018
realTimeControlDrawCircle Examples utilizing the "KST.m" class are used Jun 29, 2018
realTimeControlDrawEllipse Examples utilizing the "KST.m" class are used Jun 29, 2018
realTimeControl_iiwa_From_Vrep Examples utilizing the "KST.m" class are used Jun 29, 2018
realtimeControlOfEEFGamePad a bug corrected, the function was calling the script for moving game … Jun 29, 2018
realtimeControlOfJointSpaceUsingGamePad new control joints of iiwa using game pad, KST class is used Jul 1, 2018
Flyer_KST.pdf Flyer of the toolbox, 1st October 2018 Oct 19, 2018
Import KST to SunriseWorkbench.pdf updated Jul 17, 2018
KST_User's_Guide.pdf User's guide, 26th September 2018 Oct 19, 2018
LICENSE Create LICENSE Apr 2, 2018
README.md New example added, use IIWA as CNC Plotter Nov 7, 2018
Read Me.txt updated Apr 30, 2018
Toolbox function.xlsx Total list of functions is established Apr 18, 2018
Validity of toolbox.pdf KST 1.0 is added after the testing, KST 1.1 is not tested yet Oct 22, 2017


KUKA Sunrise Toolbox for Matlab

A Toolbox used to control KUKA iiwa robots, the 7R800 and the 14R820, from an external computer using Matlab.

Using the KST the utilizer can control the iiwa robot from his/her computer without a need for programming the industerial manipulator.

A basic knowledge of using Matlab is required.

cover photo 002

Video tutorials on how to utilize the toolbox

The newer version of KUKA Sunrise Toolbox (KST-1.7) provides a wrapper class that wraps the various functions of the earlier version (KST-1.6) in the file (KST.m). As such earlier version of KST works interchangeably with the newer version 1.7. And the user has the freedom of choice to utilize KST-1.7 or KST-1.6 according to his/her own preference.

Video Gallery

Video demos where MATLAB and KST are used to control iiwa manipulator are available here. The video examples range from pick & place applications where kinect camera is utilized for objects recognition and localization, to realtime collision avoidance with coworker/dynamic-obstacles in practical robotic cell, to controlling the manipulator from 3D simulation software or by using external hardware, and more.

Package Content

Path Content description
KUKA_Sunrise_server_source_code/ Java source code for IIWA controller.
Matlab_client/ Matlab code for KST.
OtherFlavours/ Other versions of KST.
Other_MATLAB_functionalities/ Hand-guiding/Physical-interaction functions.
Tips and tricks/ Documentation for enhancing network performance on PC.
realTimeControlDrawCircle/ Demo on trajectory generation/IK/on-the-fly control.
realTimeControlDrawEllipse/ Demo on trajectory generation/IK/on-the-fly control.
realTimeControl_iiwa_from_Vrep/ Demo, using KST with V-rep to control iiwa robot.
realtimeControlOfEEFGamePad/ Teleoperation, control EEF from GamePad.
realtimeControlOfJoint...../ Teleoperation, control joints from GamePad.
SunriseGUIinterface/ Friendly GUI for controlling iiwa from MATLAB.
iiwa_CNCPlotter/ Use IIWA as CNC Plotter.


Please cite the following paper in your publications if it helps your research

Paper in the link: https://arxiv.org/abs/1709.01438


author = {Mohammad Safeea and Pedro Neto},

title = {KUKA Sunrise Toolbox: Interfacing Collaborative Robots with


year = {2017}



This research was partially supported by: The Portuguese Foundation for Science and Technology (FCT) SFRH/BD/131091/2017 and the European Union's Horizon 2020 research and innovation programme under grant agreement No 688807 - ColRobot project.