The Robotics System Toolbox Support Package for Manipulators enables connectivity and control of KINOVA® Gen 3 robot using either matlab_kortex API or ros_kortex API provided by KINOVA Robotics.
If the intended end goal of your application involves standalone manipulation of the Gen3 robot only, control and connectivity workflow using matlab_kortex API is an ideal solution. However, in majority of the robotics use-cases, the environment consists of multiple robots and sensors, and the standalone manipulation is not common. In such scenarios, ROS is widely used due to inherent advantages of hardware abstraction, device drivers, libraries, visualizers, message-passing, package management, and so on.
For more information on the comparison between these two interfaces, refer to Select Interface for Connecting to Kinova Gen3 Robot. The support package includes examples to control individual joint angles and cartesian pose of the robot. More advanced examples demonstrate how to use Robotics System Toolbox features to compute joint angles required to track a smooth trajectory in 3D space and command the robot to track the pre-computed trajectory.
Verify network connection to Gen3 robot from MATLAB
Clear existing faults while working with Gen3 robot
Update URDF to the latest version, if required
Use either matlab_kortex or ros_kortex for connection
MATLAB MEX Interface
Download MATLAB MEX APIs from Kinova Robotics
Perform basic tests to connect to Gen3 robot and move a wrist joint of the robot
Perform configuration steps in MATLAB to acquire images from Gen3 robot's Vision Module
MATLAB ROS Interface
Robotics Systems Toolbox
- STEP 1: Connect to the KINOVA Gen3 Robot and Initiate Required ROS Nodes to Control the Robot
- STEP 2: Connect to ROS Network
- STEP 3: Read Joint Angles
- STEP 4: Manipulate Individual Joint Angle using MATLAB
- STEP 5: Control Cartesian Pose Using MATLAB
- STEP 6: Send Precomputed Trajectory to the Robot
Open the terminal from the catkin workspace containing
ros_kortex ROS packages in the host computer or VM where ROS is installed.
Troubleshoot issues with manipulating Gen3 robot using the support package and understand the limitations