Franka MATLAB Toolbox

Franka MATLAB Toolbox contains a set of libraries and tools for exposing the Franka Robot to the Mathworks ecosystem with the:

• Simulink Franka Library, a set of simulink blocks interfacing the Franka Robot through automatic C++ code gen with Simulink Coder, for rapid-prototyping of robot control algorithms.

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

• Matlab Franka Library, a set of matlab functions for reading the current robot state and applying some simple open loop motion commands.

Contents:

• Matlab toolbox dependencies
• Compatible versions
  • Compatibility with Matlab & libfranka
• Installation
  • Linux System Setup
  • Windows System Setup
  • Franka MATLAB Toolbox Add-On Installation & License Management
• Getting started
  • Overview
  • Initialization
  • Execution
  • Automatic error recovery
• Simulink Library
  • Apply Control
  • Get Robot State
  • Get Duration(Sample Time)
  • Get Model
  • Get Gripper State
• Matlab Library
  • Matlab Demo Pick & Place with RRT
  • FrankaRobot Class
• Troubleshooting
  • control_modes.h: No such file or directory error.
  • 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