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Just cut the cable between the power adaptor and the Kinect connector (not the USB connector). Split the cable in the two wires and strip a small end of them.

Go to the local electronics store and ask for cage clamps (like these: wago clamps, just make sure you have the ones for flexible cable types, not the ones for solid cable. Connect the - from the battery to the white cable from the kinect and the + from the battery (or robot) to the brown one and you are ready without doing any soldering.

I used crimp connectors for this (the same type as used internally in the PR2) but this requires you to buy an expensive crimping tool.