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Splash Forums Development Installation/Update General questions

This topic contains 6 replies, has 3 voices, and was last updated by  soli 1 year, 1 month ago.

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  • #2564

    Marco
    Participant

    Hi, I’m a student of the Politecnico Di Milano, we have just bought the jaco2 arm. We are doing some research with jaco2 and we want to undrestand some things. We want to understand what we can do with this robot. I already read all the manuals available on the website.

    How do i get started to program the robot? Are there some toturials or some other website that are usefull?

    How can i program the robot? The kinova sdk does not allow to write the program.

    If we want to use for example your position control and then we want to close an other loop with our controller how can we do it? Where can i implemente my control? I can implement it on the controller that is already present in the jaco or i have to run the control on my pc and than with usb close the loop.

    Is it possible to see the code of the control already implemented on the controller?

    The manual of the controller said that the control system frequency is 100 Hz (High Level API) and 500 Hz (Low Level API). what does it mean? what does high and low API means?

    Thanks you for your patience

    #2565

    Alex
    Participant

    Dear Marco,

    Please see our answers below to your questions

    How do i get started to program the robot? Are there some toturials or some other website that are usefull?
    To program the robot, you can refer to the source code from the examples provided in the Development Center (SDK)

    How can i program the robot? The kinova sdk does not allow to write the program.
    The SDK install package comes with Microsoft Visual Studios, this is the software that you can write your own code in C++

    If we want to use for example your position control and then we want to close an other loop with our controller how can we do it? Where can i implemente my control? I can implement it on the controller that is already present in the jaco or i have to run the control on my pc and than with usb close the loop.
    You can run the control with your PC via USB

    Is it possible to see the code of the control already implemented on the controller?
    Unfortunately this is not possible, we don’t provide the source code of our controller

    The manual of the controller said that the control system frequency is 100 Hz (High Level API) and 500 Hz (Low Level API). what does it mean? what does high and low API means?
    The High-Level API is actually the SDK itself. The system refresh rate is 100Hz. The Low-Level API is located in the ”API” folder in the JACO2SDK installation folder. Its refresh rate is 500Hz, so you can send commands faster than with the SDK.

    I hope this can help to get you started. If anything, don’t hesitate to let us know.
    Thanks!

    #2566

    Marco
    Participant

    thanks you so much

    #2572

    Marco
    Participant

    Hi,
    I have other questions.

    In the tecnical specification of the gripper there are the following two parameter:
    -MIN OBJECT DIAMETER FOR CYLINDRICAL GRIP
    -MIN OBJECT DIAMETER FOR OBJECT-ON-THE-GROUND PINCH
    What is the difference between the two?

    Is it really possible to reach a bandwith of 500Hz with a USB transmission? My professors are not so sure that tis is possible.

    Is it possible to have the dynamic model of the jaco2 arm

    thank you for your time and for your help

    • This reply was modified 1 year, 2 months ago by  Marco.
    #2574

    Alex
    Participant

    Dear Marco,

    The difference between the two is very simple:
    – MIN OBJECT DIAMETER FOR CYLINDRICAL GRIP : Minimum object diameter to be able to grip it inside our gripper (You can notice that when the fingers are closed, there is a gap that you will not be able to grip something if it is not large enough).
    – MIN OBJECT DIAMETER FOR OBJECT-ON-THE-GROUND PINCH : Minimum object diameter to be able to grip an object by the tip of the fingers. In this case, you should be able to grip most of the smaller objects.

    About the 500Hz bandwidth via USB; Yes it is possible, but for the smallest commands like GetPosition, GetCurrent, GetCommand, SendBasicTrajectory.. If you use more bigger commands, it will be a bit more problematic. I hope this helps to understand.

    About the dynamic model of the arm, yes it is possible. Please send us an email at support@kinovarobotics.com including the Serial number of your Jaco2 arm, and we’ll be able from there to send you the dynamic model.

    Thanks,

    #2592

    Marco
    Participant

    Hi
    where i can find the model of the jaco2 of gazebo? do it exist?

    #2595

    soli
    Participant

    Hi Marco,

    Some gazebo packages are out there available from the community. You can search for them. I am not listing any here because I cannot support you on them.

    We will have our own maintained Gazebo package in a couple of months, tied to our own library, and we will be able to offer complete support for all our products for that package.

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