Hi all,
I've developed a blockset for Matlab's Simulink Desktop Real-Time environment which enables control of KUKA KRC4 controllers over RSI. It's *extremely* rudimentary right now, but supports basic task-space control and returns joint- and task-space position feedback. I couldn't find any comparable tool available when I started my project, so I figured I would share my work in the hope that it's useful to someone else.
The Simulink blocks & RSI configuration files for this system are available at: https://github.com/mitmedialab/kukaslxctrl. My system is based on a similar system developed by Bootsman over at the German Robot-Forums site (https://www.roboterforum.de/ro…n/13802/msg66254#msg66254), and with additional help from Bootsman. The system has been tested on a KR10 R1100 sixx + KRC4 controller, and under MATLAB r2016a and r2016b.
I hope this is helpful! Please let me know if you have any questions or suggestions - and please reach out if you're interested in contributing to expand the system's capabilities.