mramonb/KinovaGen3_iMOVE

This repository presents 3 implementations for controlling the robotic arm of Kinovarobotics: Kinova Gen3 Ultralight weight with 7 DoF and a code for its compensation of gravity and Coriolis

KinovaGen3_iMOVE

This repository presents different implementations for controlling the robotic arm Kinova Gen3 Ultralight weight with 7 DoF.

• C++
• Tested on Ubuntu 16.04.

Description

This repository encompasses the resulting code of a Master's Thesis (from Master's degree in Robotics and Automatic Control) at UPC (Polytechnic University of Catalonia) in collaboration with IRI (Institut de Robòtica i Informàtica Industrial).

It includes:

• 3 codes for controlling the robotic arm from Kinovarobotics: Kinova Gen3 Ultralight weight with 7 DOF at Low-Level mode (joint space control at 1 kHz)
• 1 code that computes Kinova Gen3 gravity and Coriolis compensation
• 3 codes to test the required Hardware and Software

Features

The required drivers & libraries are the following:

• KINOVA Kortex API (by Kinovarobotics/kortex)
• Xsens MVN Awinda (by the IRI driver mvn_xsens for Linux - private on GitLab)
• Myo Armband (by brokenpylons/MyoLinux)
• Pinocchio: Third-party library to compute Kinova Gen3's dynamics (by stack-of-tasks/pinocchio)