How to utilizes APIs provided by robot manufactures and then control the robot
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Hello ,experts in matlab.
I am very pleased that matlab already has hardware packages that support connecting and controlling UR and kinova robots. However, I am very interested in the specific implementation process.
In other words, if I have the api provided by the robot manufacturer, how can I realize the communication and control with the robot in matlab without using the ROS interface?
Any suggestions or tips on experience are appreciated.
Best regards,
-Jian
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Walter Roberson
2023-11-10
编辑:Walter Roberson
2023-11-10
See https://www.mathworks.com/help/matlab/call-cpp-library-functions.html for C++ libraries, and see https://www.mathworks.com/help/matlab/ref/loadlibrary.html for C libraries.
In some cases, manufacturers might provide .NET assemblies. If the ones you are interested in do that, and if you happen to be using MS Windows then see https://www.mathworks.com/help/matlab/getting-started.html .
In some cases, manufacturers might provide ActiveX interfaces. if the ones you are interested in do that, and if you happen to be using MS Windows then see https://www.mathworks.com/help/matlab/using-com-objects-in-matlab.html
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atharva
2023-11-10
Hey Jian,
I understand that you want to learn about the implementation process of connecting and controlling UR and kinova robots.
You will need Robotics System Toolbox to control your robotic system and go through the below steps -
1.Create an API instance to Connect to the Robot: Create an API instance using your robot's IP address to establish connection with the robot. This involves creating an object in MATLAB that serves as a handle for interacting with the robot.
2.Connect to the Robot: Use the created API instance to connect to the robot. This step is necessary before sending or receiving any commands or data.
3.Get Sensor Data from the Robot: After establishing a connection, you can retrieve sensor data from the robot. This could include information from various sensors like cameras, lidars, encoders, etc., depending on the capabilities of the robot.
4.Control Command Modes: The toolbox allows you to send control commands to the robot to make it move or perform specific tasks. This involves specifying the desired motion or action in the form of control commands.
5.Disconnect from the Robot: Once you have completed your tasks or simulation, it's essential to disconnect from the robot. This releases the resources and ensures a clean termination of the connection.
You can also go through the example Connect to Kinova Gen3 Robot and Manipulate the Arm using MATLAB, this example 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.
You can also go through the mathworks documentation of Robotics System Toolbox https://www.mathworks.com/help/releases/R2019b/robotics/index.html
I hope this helps!
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