![]() |
Kinova_API
v5.02.00
ROS communication with Kinova API
|
All examples are on the software package at this location: from the package's root, they are in the folder Documentation, sub folder API Examples.
Most of the time, it happens under Ubuntu and that usually means that you don't have the right privileges on the USB device(in our case, the robotical arm). The file should be in /dev/bus/usb/???/???. You can type the command lsusb to know where is the device file. Check for a device with vendor ID 22CD.
It is done by calling 2 functions: MoveHome and InitFingers. Call them in that order and your robotical arm will be ready to move and grab.
The Cartesian position and orientation returned by the API's functions are relative to the base reference frame. The origin is at the center and bottom of the base. The Z axis points upward, the X axis points to the left when facing the connectors and the Y axis is toward the connectors (See the DH Parameters document).
The fixed frame is the classic robot motion: when you move in translation, the orientation remains constant. The rotating frame is used as default. It's used in rehabilitation to obtain more intuitive motions: when you perform translations, the orientation changes to be more human like.
Convention XYZ
There are 4 mode of control available with the API: Cartesian position control, Cartesian velocity control, angular position control and angular velocity control.
Have a look at the example here : StartForceControl
Absolutely, since the version 5.1.1, this library offers the possibility to communicate with many robotic devices with the same application. Use the fonction GetDevices to get all the devices connected on the USB bus and use the function SetActiveDevice to select the robotic device you want to communicate with.