KUKA LBR iiwa 7

The Kuka LBR iiwa 7 is a kinematically redundant robot with 7 DOF. The links and the fixed base of the robot are shown below.

The links and the fixed basis of the robot are shown below:

../_images/LBR_iiwa7_Linkage.png

Example Exp[licit]-MATLAB

To construct a KUKA LBR iiwa 7 in Exp[licit]-MATLAB, run the following code:

% Construct Kuka object, with high visual quality
robot = iiwa7( 'high' );
robot.init( );

% Set figure size and attach robot for visualization
anim = Animation( 'Dimension', 3, 'xLim', [-0.7,0.7], 'yLim', [-0.7,0.7], 'zLim', [0,1.4] );
anim.init( );
anim.attachRobot( robot )

The output figure should look like this:

../_images/LBR_iiwa7_result_view2.png

An example application for the KUKA LBR iiwa 7 can be found under /examples/main_iiwa7.m.