Robotic-assistant-for-microsurgery

Description

This repository contains example codes files for the following functionalities in the Low-Level Control of the Kinova Gen3 7-DoF robotic arm:

1. Point-to-Point Movement.
2. Control via a 4-DoF Foot Interface.

This repository contains three folders:

1. The "Example" folder includes main example codes for point-to-point motion control of the robotic arm under Low-Level Control, as well as codes for controlling the robotic arm using the Foot Interface.
2. The "Matlab" folder contains codes used to verify whether the written classes comply with the algorithm logic.
3. The "ROS2" folder includes codes for calculating the forward kinematics of the robotic arm using Node communication in an Ubuntu 22.04 environment.

Begining

If you have not used Clion and Kinova robots before, you can refer to the basic environment configuration tutorial provided by the University of Calgary to learn how to set up a development environment.

If you want to run the Point-to-Point Movement and Control via a 4-DoF Foot Interface program, please download the contents of the "Example" folder directly without paying attention to "Matlab" and "ROS2" (these two are more like my test code).

There are two method to use "Example" Code:

1. Download the Github project code provided by Kinova, and download the corresponding API package. Then copy the entire "Low-level-control" folder in the "Example" folder of this repository to "api_cpp/exampls" in the Kinova project, and configure the CmakeList file in this path. After the configuration is complete, you can run the relevant executable program.
2. Alternatively, you can download the entire "Example" folder and download the corresponding API from the Github project code provided by Kinova, copy the API to "kortex_api" in "Example", then download the required C++ library in Cmake and configure the CmakeList file. Once completed, you can run the corresponding executable program.

Note

When you configure CmakeList, you may need to download Boost and Eigen libraries. After downloading, please modify the directory of these two libraries in CmakeList to the location you downloaded.