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Learn the basics of using KINOVA Gen3 robot with Robotics System Toolbox™ Support Package for Kinova® Gen3 Manipulators

If the intended end goal of your application involves standalone manipulation of the KINOVA 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.


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.

MATLAB ROS Interface

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.

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.


Troubleshooting Manipulator Support Package

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