how to use "Sendcartesianpositioncommand"

[AsmaRoshaan]

Hi all,
Can you tell me how to run this command in Matlab? I have used sendcartesianvelocity command in for loops and it is working but I don't know how to use command for carstesian position control. Any help would be highly appreciated.
Thanks

[nsaif-kinova]

Hello,
Please refer to https://github.com/Kinovarobotics/matlab_Kinovaapi_wrapper/blob/master/JACO2Communicator/testJacoComm.m

%% Send cartesian positions
setPositionControlMode(jc);
CartPosCmd = [0.05 ; 0 ; 0 ; 0 ; 0 ; 0];
sendCartesianPositionCommand(jc,CartPosCmd)

[AsmaRoshaan]

Thanks for replying. I have already trued this command. Jaco isn't responding to it. That's why I asked this question. What could be the problem. Whenever I send this command, Nothing happens and jaco stops reacting to other commands too. Then I have to restart everything.

[nsaif-kinova]

Hello,
Please send the arm to Home position and try again.
You can refer to "My robot is in angular mode and it will not switch back to Cartesian mode? However, when I send the robot back to its HOME position, it will switch back to Cartesian mode" page 67 https://www.kinovarobotics.com/sites/default/files/UG-009_KINOVA_Gen2_Ultra_lightweight_robot_User_guide_EN_R02.pdf

[AsmaRoshaan]

Hi Nasif
I am sorry if I am not explaining it right. I have tried what you have suggested. I have sent the robot back o home position and it starts working with other commands, but when I send this cartesian position control command, it doesn't reacts, and don't execute any other command after that. then I have to send it back to home position.

[AsmaRoshaan]

And I would also like to mention that I am using it with ethernet connection. Not with the USB .

[AsmaRoshaan]

Ok. Now I get it. This command is working with the usb connection but not with ethernet connection. How can I solve this problem?

[nsaif-kinova]

Hello,
You need to load the DLL files for the Ethernet, please remember this package is only a wrapper around our API, please edit the below part in this file : https://github.com/Kinovarobotics/matlab_Kinovaapi_wrapper/blob/master/JACO2Communicator/JACO2SDK/JacoSDKWrapper.cpp

        commandLayer_handle = LoadLibrary("CommandLayerWindows.dll");
//         For Ethernet control choose CommandLayerEthernet.dll
//         commandLayer_handle = LoadLibrary("CommandLayerEthernet.dll");

[AsmaRoshaan]

I have updates the DLL files and I was using the jaco with ethernet connection and it was working just fine. Only this command doesn't work. I can not figure out why !!

[nicoponf]

Hello, has anyone resolved this problem ?
What I want to do is make the robot follow 2 or 3 points after another. I am trying to use also the sendCartesianPositionCommand() function, but I have the same behavior, the robot goes to the first point ( note that it is a relative position to the current one ), and then the robot does not respond anymore to any function or method, except goToHomePosition() and setTorqueControlmode().
Then it is necessary to reinitialize it. It seems that initializing the fingers with calibrateFingers() makes the robot able to respond again to other control functions. Though this is a workaround and I would like to resolve the problem.
Also an idea about what and where the problem could be would be helpful !

[nicoponf]

I found a solution to this problem,

It seems the hand mode was not properly set in this function. To resolve this problem, add
pointToSend.Position.HandMode = HAND_NOMOVEMENT;
right after the following line

matlab_Kinovaapi_wrapper/JACO2Communicator/JACO2SDK/JacoSDKWrapper.cpp

Line 714 in e51b887

pointToSend.Position.Type = CARTESIAN_POSITION;

and recompile the mex file. This should make it work.