diff --git a/vrep/lbr4-velocity-control/lbr4_velocity_control.m b/vrep/lbr4-velocity-control/lbr4_velocity_control.m
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+%% Example of velocity actuation and joint position reading
+% Frederico Fernandes Afonso Silva - Jan/2024
+% Last modification: Jan/2024
+
+% Example of velocity control and reading using a KUKA LBR4 robot.
+%
+% Usage:
+%       1) Open scene "lbr4_velocity_control.ttt" on V-REP.
+%           Available at: https://osf.io/gzrby
+%       2) Run this file.
+
+close all
+clear class
+clear all %#ok
+clc
+
+% use the namespace
+include_namespace_dq
+
+%% V-REP setup
+% Create a DQ_VrepInterface object and start communication with V-REP
+vi = DQ_VrepInterface();
+
+% Finish any previous V-REP communication
+vi.stop_simulation();
+vi.disconnect_all();
+
+% Start a new connection
+vi.connect('127.0.0.1',19997);
+disp('Communication established!')
+
+% Start simulation
+vi.set_synchronous(true);
+vi.start_simulation();
+disp('Simulation started!')
+
+% Define robot interface
+robot_vrep = LBR4pVrepRobot('LBR4p', vi);
+
+%% Definition of the actuation velocity
+qd = [-pi/4; -5*pi; 0; pi/2; pi/2; pi/2; pi];
+
+%% General variables
+iteration = 0;
+max_iteration = 10;
+
+%% Main control loop for the first desired pose
+while(iteration <= max_iteration)
+    % Robot actuation in V-REP
+    robot_vrep.set_target_configuration_space_velocities(qd);
+    vi.trigger_next_simulation_step();
+    vi.wait_for_simulation_step_to_end();
+
+    formatSpec = 'Joint velocity sent to V-REP: %f\n';
+    fprintf(formatSpec,qd);
+    disp(' ')
+
+    % Read joint positions from V-REP
+    q_read = robot_vrep.get_configuration_space_positions;
+
+    formatSpec = 'Joint position read from V-REP: %f\n';
+    fprintf(formatSpec,q_read);
+    disp(' ')
+
+    %% General messages
+    iteration = iteration + 1;
+
+    formatSpec = 'Iteration: %f\n';
+    fprintf(formatSpec,iteration);
+    disp(' ')
+end
+
+%% Finishes V-REP communication
+vi.stop_simulation();
+disp('Simulation finished!')
+vi.disconnect_all();
+disp('Communication finished!')
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