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How to control Robotiq gripper on Kinova robot?

Seamless integration on Kinova Gen3 — guidance and constraints for JACO and Gen2

Context

Kinova robotic arms are often used in research, automation, and service robotics. Many users wish to equip these robots with a Robotiq adaptive gripper to add flexible manipulation capabilities.

Integration depends on the Kinova model:

  • Gen3 robots include a built-in electrical and mechanical interface at the wrist, making Robotiq gripper installation straightforward.

  • JACO and Gen2 robots have proprietary wrist interfaces, which complicates direct integration and may require additional hardware.

This article explains how to set up a Robotiq gripper on Kinova robots and what to consider depending on the model.

 

Integration Guide

Kinova Gen3

The Gen3 has a dedicated wrist connector for Robotiq grippers, enabling direct installation.

 

 

Kinova JACO and Gen2

These earlier models lack the integrated Robotiq wrist connector. To use a Robotiq gripper, you will need an adapter solution.

  • Example: The CuffLink-RK adapter allows connection between JACO/Gen2 wrists and Robotiq 2F grippers.

  • This adds both mechanical support and the required wiring passthrough.

Software Support

The integration is not supported by Robotiq. However, here is some informations : 

  • Gen3 + Robotiq gripper: Supported in MoveIt, ROS2 Kortex, and Kinova software packages.

  • JACO/Gen2: Requires manual configuration. Robotiq grippers can still be driven using RS-485 or Modbus communication.

Useful references:

 

Conclusion

Installing a Robotiq gripper on a Kinova Gen3 robot is simple thanks to its integrated wrist connector. For JACO and Gen2, integration is possible but requires an adapter such as the CuffLink-RK.

Always confirm cabling, initialization, and control software compatibility before operation. For advanced users, ROS2 and MoveIt provide extended support for programming Robotiq grippers on Kinova arms.