Simple Cartesian Trajectory for Fast Research Libarary for KUKA LWR

There is a great library developed by Stanford University for Fast Research Interface (FRI) of KUKA LWR that can be downloaded here. It has many useful examples but it lacks a Simple Trajectory Generator in Cartesian Impedance Mode.
I have developed one and can be downloaded:
https://github.com/mahyaret/Cartesian-KUKA-FRI

You only require to import it to the main solution of FastResearchLibrary.

How to set up a personal home web server (100% free)

First step is assigning a globally known address to your home network. Remote access via Dynamic DNS makes this possible. There are many websites provide such service. I have used http://www.noip.com because my internet modem/router supports this website! You have to register in noip website and then you have to add a Host (DNS Host (A)).

Next thing is configuring your modem/router for updating the website with your Dynamic Valid IP address. For doing this you have to find DDNS (Dynamic DNS) under Network settings and enter your noip account details.

For security reason you still cannot access you computers via internet. For doing this you have to use DMZ service. First assign a static IP address for the computer that you want to use it as the  server (e.g. 192.168.2.100). Then add this IP address as DMZ device.

Now you have a connected server. You can now install LAMP or WAMP.

Connecting Matlab and C++ using UDP

Here is the code for connecting Simulink Desktop Real-Time™ and a C++ program using connectionless UDP. WinSock2 is used in C++.
https://github.com/mahyaret/Matlab-Real-Time