ABB (IRB120): Interface to MATLAB/Simulink

CSimr

Hello,

i am currently looking for a robot for a research project at my university. Since the topic is control related i probably need to implement my own controller or at least gain access to low level control in order to minimize latencies in the control loop.
Is there a Simulink library or MATLAB interface to acces directly the torques or other low level commands?

Any help is appreciated!

Thanks