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3 ars	1 A
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3 rewel	01500
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S Cditor -	C:\U5ef5\user\De5lctop\KST-Kuka-Sunrise-To3lbox-mastef\Matlab client sKSTclass Tutorial direfl
KSTcIass Tutorial directS«rvo m +
i	%% Example of using KST class for interfacing with Y
2	% This example script is used to show how to utilise
3	% the soft real time control of the KUKA iiwa 7 R 800 for
4 c	% Moving first joint of the robot, using a sinusoidal functior
6	% First start the sen/er on the KUKA iiwa controller
7 Ci	% Then run this script using Matlab
O 5	% Important: Be careful when runnning the script, be surę
10	% are around the robot
11
12	% This example works with Sunrise application version K£
13	% Copyright Mohammad SAFEEA, 8th-August-2018
14
15
16	close all;clear;clc;
17 "	warning('off)
18	%% Create the robot object
15 '	ip=172.31.1.147'; % The IP of the controller
20 "	arg1=KST.LBR7R800; % choose the robot iiwa7R800 or
21 -	arg2=KST.Medien_Flansch_elektrisch; % choose the type
22	Tef_flange=eye(4); % transofrm matrix of EEF with respe
23 -	ir.va=KST(ip.arg1,arg2,Tef_flange); % create	the object
24
25	%% Start a connection with the server
26 ~	flag=iiwa.net_establishConnection();
27 -	if flag==0
28 -	return;
25 "	end
30 -	pause(1);
31 -	disp('Moving first joint of the robot using a sinusoidal funct
32

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