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Learn the basics of Robotics System Toolbox™ Support Package for Manipulators

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.

Topics

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 Interface

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

Troubleshooting

Troubleshooting Manipulator Support Package

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

Featured Examples