Test Basic Connection and Move the Wrist Joint
After you perform the initial configuration activities as described in Set Up Network Adapter and Basic Network Ping and for Kinova® Gen3, you can test the basic connection with the robot and try to move the wrist joint of the robot.
Create Robot APIs Wrapper
To create a wrapper for MATLAB® APIs for using with the Gen 3 robot:
Import enums and structures.
Create an API instance to connect to the robot
gen3 = kortex;
This creates an object of class
kortexwith default properties for IP address, user name and password.
Modify the IP address of the robot
gen3. ip_address= ‘192.168.1.10’;
Modify the user name and password
gen3. user = ‘admin’; gen3. password = ‘admin’;
Connect to the robot
isOk = gen3.CreateRobotApisWrapper;
On successful connection, the function returns true.
Display Joint Angles of the Robot
[isOk, baseFeedback, jointsFeedback, interconnectFeedback] = obj.SendRefreshFeedback; disp(jointsFeedback.position);
Move the Wrist Joint of the Robot
You can use the
SendJointAngles command to move the robot to a
particular position defined by a set of joint angles. Because the
Kinova® Gen 3 robot has seven actuators, the input to
the function is a vector of size 1-by-7. The valid range of joint angle is 0 to 360
In the previous step, you read current joint angles from the robot. The following command specifies that the wrist joint of the actuator be moved by 5 degrees.
jointCmd = jointsFeedback.position + [0,0,0,0,0,0,5];
Specify constraints for the robot motion (if you specify
default values are used):
constraintType = int32(0); speed = 0; duration = 0;
Send high-level command to the robot to move the wrist joint:
isOk = gen3.SendJointAngles(jointCmd, constraintType, speed, duration);
Disconnect from the Robot
isOk = gen3.DestroyRobotApisWrapper;