Sending coordinates from MATLAB via TCP/IP to control manipulator

I am trying to work on a project where I have to determine coordinates of an object using Microsoft Kinect sensor and MATLAB, then send the coordinates to an irb120 manipulator. The robot will then have to move to the object, pick and place them somewhere. 

Could anyone give me insight on how to transfer the found coordinates of each object from MATLAB to the robot using TCP/IP in real time.