Franka Toolbox for MATLAB

MATLAB® & Simulink® integration for the Franka Robot

Get Started in Minutes

Pre-built toolbox packages are available on the GitHub Releases page — no compilation required!

Package	Robot	Description
franka-fr3.mltbx	FR3 (Franka Research 3)	For current-generation robots
franka-fer.mltbx	FER	For first-generation robots

Installation

1. Download the appropriate .mltbx file from Releases
2. Double-click the file, or drag-and-drop it into MATLAB
3. Run franka_toolbox_install() in MATLAB

That's it! You're ready to control your Franka robot from MATLAB and Simulink.

Features

• Simulink Library — Ready-to-use blocks for robot state, gripper control, dynamics (mass matrix, Coriolis, gravity, Jacobian), and real-time control
• MATLAB Classes — FrankaRobot, FrankaGripper, and FrankaVacuumGripper for programmatic robot control
• Simulink Coder Support — Generate and deploy C++ code to real-time Linux targets
• Cross-Platform — Works on Windows and Linux, targets x86_64 and ARM64 (Jetson)

Documentation

Franka Toolbox for MATLAB Documentation

• Installation & getting started
• Simulink block reference
• MATLAB API reference
• Troubleshooting

Franka Control Interface (FCI) Documentation

• Robot setup & network configuration
• libfranka reference
• System requirements

Examples

The toolbox includes ready-to-run examples:

• Joint & Cartesian motion generation
• Impedance control (joint & Cartesian)
• Force control
• Gripper operations
• Pick-and-place with RRT path planning

Building from Source

The released .mltbx packages include pre-built binaries for the default supported setup. If you need a different libfranka version, you can build with Docker via docker/build.sh --libfranka <version>. You can also choose docker/build.sh amd64 for a local host target or docker/build.sh arm64 for a Jetson target instead of building both architectures.

If you need to build the toolbox yourself, see the Custom Build Guide in the documentation.

License

Copyright © 2025 Franka Robotics GmbH