Franka Toolbox for MATLAB

The Franka Toolbox for MATLAB provides libraries and tools that integrate Franka robots with the MathWorks® software ecosystem.

Hardware/Software configuration options for the Franka Toolbox for MATLAB.

The toolbox comprises two main components:

• Franka Library for Simulink, a set of Simulink blocks for interfacing the Franka Robot through automatic C++ code gen with Simulink Coder. The library mainly aims at assisting with the rapid-development of advanced robot controllers.

Simulink Library for rapid-prototyping of controllers for the Franka Robot.

• Franka Library for MATLAB, which provides the FrankaRobot() MATLAB class for directly interfacing the Franka Robot.

Example of a pick-and-place operation using RRT (Rapidly-exploring Random Tree) implemented in MATLAB Live Script.

Contents:

• System Requirements
  • Host PC Requirements
  • Target PC - AI Companion
  • Target PC - RT Linux Host
• Installation
  • Installation Methods
  • License Management & Activation
  • Uninstall Toolbox
  • libfranka handling options for Target PC
• Getting started
  • Simulink
  • MATLAB
• Fanka Library for Simulink - Reference
  • Robot Control
  • Robot State
  • Duration Period
  • Gripper State
  • Mass Matrix
  • Coriolis
  • Gravity
  • Jacobian
  • Pose
• Franka Library for MATLAB - Reference
  • FrankaRobot Class
• Troubleshooting
  • control_modes.h: No such file or directory error.
  • missing “MW_custom_RTOS_header.h”
  • libfranka reference
  • Issues with the graphics driver in Linux
  • Issues with libstdc++.so and other system dynamic libraries
  • Franka Simulink library number of block instances