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KINOVA® KORTEX™ MATLAB API

Overview

This MATLAB adaptor allows communication via MATLAB with a KINOVA® Gen3 Ultra lightweight robot.

System requirements

This software has been tested on Ubuntu 16.04 (64-bit) and Windows 10

MATLAB

  1. MATLAB version 9.8 (R2020a)
  2. Simulink Coder Toolbox
  3. Simulink Toolbox
  4. Simscape Multibody Toolbox
  5. Simscape Toolbox
  6. Robotics System Toolbox
  7. Optimization Toolbox
  8. MATLAB Coder Toolbox
  9. Embedded Coder Toolbox

Download instructions

Installation Instructions

You can access the latest release of the MATLAB adaptor here on the Kinova Artifactory. ( The release contains compiled libraries for Linux x86 architecture and Windows Visual Studio 2015 )

Windows Operating System

From the Kinova Artifactory:

  • Expand kortex/matlab/simplified_api to see the release folders
  • Right-click on the desired release folder
  • Select Download in the context menu
  • Choose the desired Archive Type
  • Click on Download
  • Extract the MATLAB adaptor folders from the downloaded archive.

Build instructions

The compiled MEX files are already present in the package : kortexApiMexInterface.mexa64 (Ubuntu 16.04 64 bits) and kortexApiMexInterface.mexw64 (Windows 10 64 bits). However, you can still build those files yourself following these instructions:

Build Environment

  • CMake version 3.10 or more recent

Windows Operating System

Linux Operating System

  • GCC/G++
  • Pkg-config
sudo apt install build-essential pkg-config

How to build

Refer to the dedicated page for Setup

Usage

There are two ways to interact with the robot via MATLAB.

  1. Using the KORTEX™ API MEX interface (kortexApiMexInterface.cpp)
  2. Using the MATLAB System object kortex (which itself uses the KORTEX™ API MEX interface)

The KORTEX™ API MEX interface is the best option for controlling the arm via a MATLAB script. The kortex System object on the other hand is intended for dynamical simulations of the robot as part of a system in Simulink.

For more information on both options:

In addition, MATLAB Code Generation support for generating a ROS2 node and deploying the kortex System Object node directly on a NVidia Jetson Xavier platform is available. For more information, refer to the ROS2 Code Generation on Jetson Target section in the Setup page.

For more information on MATLAB code generation, see this Mathworks documentation page.