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Robotics System Toolbox™ Support Package for Kinova^® Gen3 Manipulators를 통해 KINOVA Gen3 로봇 사용에 관한 기본 사항 배우기

응용 사례의 최종 목표가 KINOVA Gen3 로봇만을 독립적으로 조작하는 것이라면 matlab_kortex API를 사용한 제어 및 연결 워크플로가 이상적인 솔루션입니다. 그러나 대부분의 로보틱스 사용 사례에서 환경은 다수의 로봇과 센서로 구성되며, 독립적 조작은 흔하지 않습니다. 이러한 시나리오에서는 하드웨어 추상화, 장치 드라이버, 라이브러리, 시각화, 메시지 전달, 패키지 관리 등의 내재된 장점으로 인해 ROS가 널리 사용됩니다.

이 두 인터페이스 간의 비교에 대한 자세한 내용은 Select Interface for Connecting to Kinova Gen3 Robot 항목을 참조하십시오. 지원 패키지에는 로봇의 개별 조인트 각도와 카테시안 자세를 제어하는 예제들이 포함되어 있습니다. 좀 더 고급 수준의 예제에서는 Robotics System Toolbox 기능을 사용하여 3차원 공간에서 매끄러운 궤적을 추적하는 데 필요한 조인트 각도를 계산하는 방법과 로봇이 미리 계산된 궤적을 추적하도록 명령하는 방법을 보여줍니다.

도움말 항목

Verify Connection to Kinova Gen 3 Robot
Verify network connection to Gen3 robot from MATLAB^®
Clear Existing Faults
Clear existing faults while working with Gen3 robot
Get Latest URDF Robot Model for KINOVA Gen3 Robot
Update URDF to the latest version, if required
Select Interface for Connecting to Kinova Gen3 Robot
Use either matlab_kortex or ros_kortex for connection

MATLAB MEX 인터페이스

Download MATLAB MEX APIs for Kinova Gen 3

Download MATLAB MEX APIs from Kinova Robotics.

Test Basic Connection and Move the Wrist Joint

Perform basic tests to connect to Gen3 robot and move a wrist joint of the robot.

Configure MATLAB to Acquire Images from Vision Module

Perform configuration steps in MATLAB to acquire images from Gen3 robot's Vision Module.

MATLAB ROS 인터페이스

Getting Started with ROS Connectivity

The robot can be connected to the MATLAB using different methods depending on the communication interface provided by the robot manufacturer.

단계 1: Connect to the Kinova Gen3 Robot and Initiate Required ROS Nodes to Control the Robot
단계 2: Connect to ROS Network
단계 3: Read Joint Angles
단계 4: Manipulate Individual Joint Angle Using MATLAB
단계 5: Control Cartesian Pose Using MATLAB
단계 6: Send Precomputed Trajectory to the Robot

Connect to the Kinova Gen3 Robot and Initiate Required ROS Nodes to Acquire Image Data from Vision Sensor

Open the terminal from the catkin workspace containing ros_kortex ROS packages in the host computer or VM where ROS is installed.

문제 해결

Troubleshooting Manipulator Support Package

Troubleshoot issues with manipulating Gen3 robot using the support package and understand the limitations.

추천 예제

Connect to Kinova Gen3 Robot and Manipulate the Arm Using MATLAB

Demonstrates how to connect the Kinova Gen3 7-DoF Ultralightweight Robot arm to MATLAB® and Simulink®. This also helps you to get feedback from the robot and to send control commands.

라이브 스크립트 열기

Track Pre-Computed Trajectory of Kinova Gen3 Robot End-Effector Using Inverse Kinematics and KINOVA KORTEX MATLAB API

Solve inverse kinematics problems using Rigid Body Trees and move the Kinova Gen3 7-DoF Ultralightweight Robot arm to follow the desired trajectory.

라이브 스크립트 열기

Generate a Trajectory Using a Set of Waypoints for KINOVA Gen3 Robot End-Effector

Generate and interpolate trajectories from a set of waypoints. This example covers common ways of generating trajectories for robot arms such as cubic polynomials, quintic polynomials, and trapezoidal trajectories.

라이브 스크립트 열기

Control KINOVA Gen3 Robotic Manipulator Using KINOVA KORTEX System Object and Simulink

Connect to the KINOVA® Gen3 7-DoF Ultralightweight Robot arm with Simulink®. It includes blocks to get feedback from the robot and send control commands.

모델 열기

Control Cartesian Position of KINOVA Gen3 Robot End-Effector Using Inverse Kinematics Block and KINOVA KORTEX System Object

Solve inverse kinematics problems using Rigid Body Trees and how to control the KINOVA Gen3 7-DoF Ultralightweight Robot Arm to follow the desired trajectory.

모델 열기

Generate Colorized Point Cloud Using Vision Module of Kinova Gen3 Robot

Connect to the cameras of Kinova Gen3 7-DoF Ultralightweight Robot and get the RGB and depth streams. Acquired images are utilized to create colorized point clouds of the environment.

라이브 스크립트 열기

Read Current Joint Angles from KINOVA Gen3 Robot Arm

Connect to the KINOVA Gen3 7-DoF Ultralightweight Robot arm with Simulink® using Robot Operating System (ROS). This includes ROS message Subscribe block to get feedback from the robot.

모델 열기

Control Individual Joint Angle of KINOVA Gen3 Robot

Connect to the KINOVA Gen3 7-DoF Ultralightweight Robot arm with with Simulink® using Robot Operating System (ROS). This includes ROS message Subscribe and Publish blocks to get feedback from the robot and then send commands to the robot to reach a particular joint configuration.

모델 열기

Send KINOVA Gen3 Robot Arm to Desired Cartesian Pose

모델 열기

Send Precomputed Trajectory to KINOVA Gen3 Robot Arm

Connect to the KINOVA Gen3 7-DoF Ultralightweight Robot arm with with Simulink® using Robot Operating System (ROS). This includes ROS message Subscribe and Publish blocks to get feedback from the robot and then send command to the robot to follow a precomputed joint trajectory.

모델 열기