Kinova Gen3 Modular Arm Controller


Developed a robotic arm controller using operational space control for manipulation.



The Kinova Gen3 Modular Arm Controller utilizes Operational Space Control to convert position commands into joint torque commands. In this robotic controller, all 7 degrees of freedom are utilized through the help of a null-space filter integrated in the primary control signal.

The control framework is able to do basic manipulation task such as picking up a object while the base is moving. The controller has been tested in PyBullet and iGibson for environmental interaction