This Python code for robotic arm control is a wrapper of official MATLAB codes.
- Windows System
- MATLAB 2021b
- Anaconda
conda create -n demo python=3.7
conda activate demo
pip install matlabengine==9.11.19
Download official SDK and install
- Kinova-Jaco-Usb-Driver-(usblib)-Installer
- SDK_GEN2_1_5_1_x86
We design a simple but complete scenario of drinking water. To run, first make sure the robotic arm is corrected connected and recognized by computer, then open Anaconda Powershell Prompt and enter:
git clone [email protected]:Kang1121/robot_demo.git
cd robot_demo
python main.py
Please make sure you have no running connections (e.g. connected IDEs or terminals) to the robotic arm before you do the following operations.
- Open the installed SDK 'Development Center', wait until the device ID is recognized and shown on the top right corner.
- Control the arm with 'Virtual Joystick'.
- Get current cartesian/joint values with 'Trajectory Planner'.
- It's not suggested to open Kinova Development Center while running our codes, which may cause connection failure to hardware.
- Simply restart terminal and reboot the robotic arm will fix most running errors.