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The KUKA Sunrise Toolbox (KST) is a MATLAB toolbox which can be used to control KUKA iiwa R 800 and R 820 manipulators from an external computer using MATLAB. The toolbox is available, under MIT license. Using KST the user can control the KUKA iiwa robot from his/her computer without requiring a knowledge about programming the industrial manipulator, as such any person with a basic knowledge of MATLAB can control the robot remotely from an external PC. The toolbox provides numerous methods that can be divided roughly into the following categories:

• Networking • Soft real-time control • Point-to-point motion functions • Setters • Getters • General purpose • Physical interaction