入門

Robotics System Toolbox™ Support Package for Kinova^® Gen3 Manipulators を使用して KINOVA Gen3 ロボットの使用の基本を確認する

アプリケーションの意図した最終目標が KINOVA Gen3 ロボットのスタンドアロン操作のみに関係している場合、matlab_kortex API を使用した制御および接続のワークフローが最適なソリューションです。ただし、ロボティクスのユースケースの大部分では、環境は複数のロボットとセンサーで構成され、スタンドアロンの操作は一般的ではありません。このようなシナリオでは、ROS は、ハードウェア抽象化、デバイスドライバー、ライブラリ、ビジュアライザー、メッセージ伝達、パッケージ管理などの固有の利点のため、広く使用されています。

これらの 2 つのインターフェイスの比較の詳細については、Select Interface for Connecting to Kinova Gen3 Robotを参照してください。サポートパッケージには、ロボットの個々のジョイント角度と直交座標の姿勢を制御するための例が含まれています。より高度な例では、Robotics System Toolbox の機能を使用して、3D 空間で滑らかな軌跡を追跡するために必要なジョイント角度を計算し、事前に計算された軌跡を追跡するようにロボットに命令する方法を示します。

トピック

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 インターフェイス

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 インターフェイス

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. For the Kinova Gen3 robot arm, Kinova provides a MATLAB MEX API and ROS API that uses the Ethernet port or Wi-Fi^® to communicate with the robot. For more information on MATLAB MEX API, see Download MATLAB MEX APIs for Kinova Gen 3. To configure the host computer for ROS API, see Install ROS Packages and Dependencies for ROS or Install ROS Packages and Dependencies for ROS on External Computer.

ステップ 1: Connect to the Kinova Gen3 Robot and Initiate Required ROS Nodes to Control the Robot
ステップ 2: Connect to ROS Network
ステップ 3: Read Joint Angles
ステップ 4: Manipulate Individual Joint Angle Using MATLAB
ステップ 5: Control Cartesian Pose Using MATLAB
ステップ 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. Execute the following command in the terminal to launch required ROS nodes. Also, replace the IP address of the robot based on the actual hardware setup. For more information on the roslaunch command, see GitHub page of KINOVA Robotics.

トラブルシューティング

Troubleshooting Manipulator Support Package

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

注目の例

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.

ライブスクリプトを開く

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.

ライブスクリプトを開く

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.

ライブスクリプトを開く

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.

モデルを開く

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.

モデルを開く

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.

ライブスクリプトを開く

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.

モデルを開く

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.

モデルを開く

Send KINOVA Gen3 Robot Arm to Desired Cartesian Pose

モデルを開く

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.

モデルを開く