Kinova Gen3 Manual de usuario
Kinova® Gen3 lite
robot
User guide
Contents
Introduction..............................................................................................................................................................6
Welcome................................................................................................................................................................... 6
About this document............................................................................................................................................6
Normal use definition.......................................................................................................................................... 6
Risk assessment.................................................................................................................................................... 7
Safety directives and warnings........................................................................................................................ 7
Warranty...................................................................................................................................................................9
Disclaimer...............................................................................................................................................................10
Acronyms and abbreviations............................................................................................................................11
Robot components............................................................................................................................................... 13
Overview..................................................................................................................................................................13
Base...........................................................................................................................................................................13
Base connector panel............................................................................................................................ 14
Base joystick / expansion connector pinout..................................................................................14
Base LED indications...............................................................................................................................15
Base mounting accessories............................................................................................................................. 16
Quick connect system............................................................................................................................ 16
Mounting plate......................................................................................................................................... 18
Table mounting clamp (optional)....................................................................................................... 19
Actuators................................................................................................................................................................20
Robot structure and skin................................................................................................................................. 20
Wrist and Gripper................................................................................................................................................20
Robot communications and network interfaces.......................................................................................21
Getting started..................................................................................................................................................... 23
Overview.................................................................................................................................................................23
What's in the box?..............................................................................................................................................23
Manipulating the robot joints when the robot is powered o............................................................25
Robot mounting options................................................................................................................................... 25
Securing the mounting plate on a table with the table mounting clamp............................ 26
Attaching the mounting plate to a surface with screws...........................................................27
Mounting plate bolting pattern......................................................................................................... 28
Installing the robot on the quick connect base............................................................................29
Installing the quick connect system................................................................................................ 30
Attaching the robot base to the mounting plate......................................................................... 32
Mounting the robot directly onto a surface.................................................................................. 33
Base underside bolting pattern......................................................................................................... 35
Robot power adapter.........................................................................................................................................36
E-stop (optional)................................................................................................................................................. 36
Powering on the robot...................................................................................................................................... 37
Power-up, booting, and initialization sequence....................................................................................... 37
Operating the robot............................................................................................................................................38
Overview of operating the robot.......................................................................................................38
Supported control devices...................................................................................................................38
Home and retract positions................................................................................................................ 44
Connecting a computer to the robot............................................................................................................45
Establishing a communication link between the robot and a computer via USB
(RNDIS)...................................................................................................................................................45
Connecting to a computer using a USB type-A to Ethernet adapter and Ethernet
cable (Optional).................................................................................................................................. 47
KINOVA® KORTEX™ Web App..............................................................................................................49
Connecting a computer to the robot via Wi-Fi.............................................................................. 51
Dimensions, specifications, and capabilities...............................................................................................53
Schematic and dimensions.............................................................................................................................. 53
Technical Specifications....................................................................................................................................54
Sensors....................................................................................................................................................................56
Base readings available........................................................................................................................ 57
Actuators readings available.............................................................................................................. 58
Wrist readings available.......................................................................................................................58
Gripper pose and twist readings available.................................................................................... 59
Gripper finger motor readings available.........................................................................................59
Eective workspace...........................................................................................................................................60
Payload vs. workspace...................................................................................................................................... 61
Concepts and terminology................................................................................................................................63
Robot key concepts............................................................................................................................................ 63
Terminology reference.......................................................................................................................................65
General mathematics and robotics...................................................................................................65
Features, components and functionalities.....................................................................................67
Control Modes..........................................................................................................................................68
Robot control........................................................................................................................................................ 69
High-level and low-level robot control...................................................................................................... 69
Control features...................................................................................................................................................69
Singularity avoidance.............................................................................................................................70
Protection zones......................................................................................................................................70
Joint limits...................................................................................................................................................71
Cartesian limits........................................................................................................................................ 73
High-level and low-level robot control methods reference................................................................ 73
High-level control modes description..........................................................................................................75
Trajectory control modes......................................................................................................................75
Joystick control modes.......................................................................................................................... 77
Low-level control detailed description........................................................................................................77
Configurations and safeties............................................................................................................................. 79
Configurable parameters..................................................................................................................................79
Base configuration..................................................................................................................................79
Actuators configuration........................................................................................................................80
Device configuration...............................................................................................................................81
Safety items..........................................................................................................................................................82
Base safeties............................................................................................................................................ 82
Actuators safeties...................................................................................................................................83
Gripper safeties....................................................................................................................................... 86
KINOVA® KORTEX™ Web App User Guide.....................................................................................................88
Introduction...........................................................................................................................................................88
Purpose...................................................................................................................................................................88
Device availability of Web App...................................................................................................................... 88
Platform and browser support...................................................................................................................... 90
User login................................................................................................................................................................91
Web App layout and navigation.....................................................................................................................92
Robot control panel............................................................................................................................................95
Pose virtual joystick control................................................................................................................95
Angular virtual joystick control..........................................................................................................97
Virtual joystick keyboard shortcuts................................................................................................. 98
Actions panel.......................................................................................................................................... 100
Snapshot tool......................................................................................................................................... 100
Main pages.......................................................................................................................................................... 100
Configurations page group................................................................................................................ 100
Safeties..................................................................................................................................................... 104
Operations page group........................................................................................................................105
Systems page group..............................................................................................................................115
Users.......................................................................................................................................................... 120
KINOVA® KORTEX™ Developer Guide........................................................................................................... 123
Introduction......................................................................................................................................................... 123
Devices and services........................................................................................................................................123
Available services............................................................................................................................................. 124
Services, methods, and messages.............................................................................................................. 125
KINOVA® KORTEX™ API and Google Protocol Buer............................................................................. 125
Service client-server model...........................................................................................................................125
Blocking and non-blocking calls..................................................................................................................126
Device routing and transport........................................................................................................................126
Robot servoing modes.....................................................................................................................................127
High-level servoing............................................................................................................................... 127
Low-level servoing............................................................................................................................... 128
Notifications........................................................................................................................................................ 129
Error management............................................................................................................................................129
KINOVA® KORTEX™ GitHub repository....................................................................................................... 129
KINOVA® KORTEX™ ROS packages and GitHub repository overview...............................................130
Guidance for advanced users..........................................................................................................................131
Overview................................................................................................................................................................131
Reference frames and transformations.................................................................................................... 131
Standard robot frames.........................................................................................................................131
Homogeneous transforms................................................................................................................. 132
Homogeneous transform matrices................................................................................................. 132
Denavit-Hartenberg (DH) parameters........................................................................................... 134
Singularity configurations.............................................................................................................................. 136
Inertial parameters definition.......................................................................................................................137
Inertial parameters of the robot................................................................................................................. 138
Maintenance and troubleshooting................................................................................................................141
Maintenance........................................................................................................................................................ 141
Troubleshooting................................................................................................................................................. 142
How to respond to safety warnings and errors.........................................................................143
Contacting Kinova support................................................................................................................ 144
KINOVA® Gen3 lite robot User guide 6
Introduction
Welcome
Welcome to the KINOVA® Gen3 lite robot.
Thank you for choosing our robot as a tool for your pathbreaking research needs.
This document is meant to provide you with all the information you need to get up and running with
your new robot and get the most out of it.
We are here to help you in your journey. If you need any help or have any questions about how
to get to where you're going with the robot, please feel free to contact our support team at
About this document
Read all instructions before using this product and any third-party options.
Read all warnings on the product and in this guide.
This document contains information regarding product setup and operation. It is intended for
Kinova product end users.
All third-party product names, logos, and brands appearing herein are the property of their
respective owners and are for identification purposes only. Their use in this document is not meant
to imply endorsement by Kinova.
Kinova has made every effort to ensure that this document is accurate, accessible and complete. As
part of our commitment to continuous improvement, we welcome any comments or suggestions at
www.kinovarobotics.com/support.
From time to time, Kinova will make updates to this document. To download the most up to date
version of this document, visit the Gen3 lite Technical Resources section of our website(https://
www.kinovarobotics.com/en/resources/gen3-lite-technical-resources)).
For general inquiries please contact us at +1 (514) 277-3777
Normal use definition
This section describes the normal use of the robot.
The definition of normal use includes lifting, pushing, pulling, or manipulating a maximum load of:
• mid-range, continuous: 600 g
• full-range, continuous 500 g
The robot is designed to hold, move, and manipulate objects in the user environment. However, for
some loads in certain positions (near maximum load and reach), holding an object for an extended
period of time may result in heating. To protect the robot hardware from excessive heat, safety
thresholds shut down the robot if the temperature rises above a certain threshold. Before this is
reached, an API notifcation will be rendered as a user alert on the KINOVA® KORTEX™ Web App.
The robot includes a number of temperature-related safeties:
• base - CPU core and ambient temperatures
KINOVA® Gen3 lite robot User guide 7
• actuators - CPU core and motor temperatures
• gripper - micro-controller core and gripper motor temperatures
During normal operation, the robot joints are subject to heating. If you receive any temperature
warnings, put down any object as soon as is practical and place the robot into a stable rest position
to allow it to cool down.
The expected service life of the robot is five years when the robot is used continuously for one hour
per day. The warranty period is two years.
Risk assessment
Before proceeding it is imperative that a risk assessment be performed (note that this is required
by law in many countries). As it is a machine, the safety of the robot depends on how well it is
integrated with its environment and with other machines.
The recommended international standards for conducting a risk assessment are as follows:
• ISO 12100
• ISO 10218-2
The risk assessment should take into consideration all activities carried out in the context of the
robot application, including (but not limited to):
• teaching the robot (during set-up)
• development of the robot installation
• robot troubleshooting
• robot maintenance
• everyday robot operation
The risk assessment must be completed before integration of the robot in an application and must
be kept up to date with any changes in the parameter settings, work environment, or tasks of
the robot. The risk assessment should address configuration settings as well as the need for any
additional emergency stop buttons.
Safety directives and warnings
Directives, warnings and safety considerations for the KINOVA® Gen3 lite robot.
IMPORTANT
Before operating the robot for the first time, ensure that you have read, completely understood and
complied with all of the following directives, warnings and cautionary notes. Failure to do so may
result in serious injury or death to the user, damage to the robot, or a reduction in its useful life.
Table 1: Safety
There is no mechanical brake on the robot. If the power supply is cut or an unrecoverable error occurs,
be aware that the robot will fall. However, mechanisms are in place within the actuators that will slow the
descent in the absence of external power.
KINOVA® Gen3 lite robot User guide 8
For your personal
safety, and that of
others, it is strongly
recommended that the
following be carried out:
- risk assessment, before integration of the robot into a given
application.
- use the robot near a flame or source of heat.
- exceed the maximum specified payload.
- attempt to stop the robot or prevent its movement by holding it.
- attempt to backdrive / force the robot joints to turn by hand while the
robot is powered on. This may cause damage to the robot. The joints may be
turned slowly by hand only when the robot is powered off.
- install the robot base within 20 cm of your body (base contains a Wi-Fi
transmitter).
- use the robot to submerge objects in water.
- operate or store the robot outside the recommended temperature ranges.
- manipulate containers with hot or extremely cold liquids using the robot.
- operate the robot in an environment which includes atomized flammable
dust / particles or explosive / flammable gases, etc.
- manipulate sharp objects with the robot.
- drop or hit the robot, or force parts of the robot against itself. If this
happens, before using the robot again, move each robot through the entirety
of its joint range and then run the demo sequence, verifying no errors or
warnings are present. In case of any doubts, contact Kinova support.
- move the robot recklessly in such a way that there is a realistic risk of
injuring bystanders or breaking objects in the operating environment of the
robot.
For your personal
safety, and that of others,
never:
- power up and boot, reboot, or upgrade firmware of the robot unless the
robot is in a stable position.
- the robot does not encounter any obstacles (persons or objects). Although
inherently safe in its default configuration, disabling the robot safeties
requires that the user be responsible for ensuring a secure working space.
- children are not left unsupervised with the robot.
- the end effector never collides with a hard surface.
- the grasping of objects by gripper fingers is stable, to prevent the risk of
dropped or thrown objects (if using a gripper).
- eye protection is worn when manipulating fragile objects with the robot.
- the robot has its base securely fixed to the work surface when in operation.
- before using the robot, it is confirmed that there are no warnings.
For your personal
safety, and that of others,
always ensure that:
- the robot is protected adequately before being used near any messy
process (e.g. welding or painting).
KINOVA® Gen3 lite robot User guide 9
Do not operate the robot when the relative humidity exceeds the maximum specified limit. In such a
case, put down any object in the gripper, bring the robot to a resting position and wait until the humidity
decreases to an allowable value.
The robot is not certified for use in applications in sterile environments (e.g. food production,
pharmaceuticals, medical, surgical).
Table 2: General
Do not connect the USB ports on the base to one another.
It is recommended that surge protection be used to protect the robot against external surges on the
main AC line which might be caused by lightning or other abnormal conditions.
The base must be mounted as specified in the installation section, with particular attention to the bolt
pattern, strength requirements and any table or tripod-specific mounting.
For transport, the robot and accessories should be placed in the original packaging with the shipping
box secured in place to avoid excessive jostling during transport.
Do not expose the robot to heavy rain.
Table 3: Maintenance
Perform regular cleaning of the robot, as well as visual inspection for damage and wear, particularly the
gripper and fingers.
If the robot is exposed to rain, contact Kinova support to schedule maintenance by an authorized
Kinova technician.
Immediately following exposure to saline air conditions, contact Kinova support to schedule
maintenance by authorized Kinova technician.
Verify robot functionality if the robot is suspected to be potentially damaged following improper
manipulation of the robot or if the robot is submitted to an excessive shock or drop.
Perform a quick routine check when starting the robot to catch defects that could occur with time.
If the robot loses a part (for example a shell due to impact) or a part breaks, shut down the robot safely
and leave it off. Contact Kinova technical support.
Warranty
This section describes the Kinova warranty terms.
Subject to the terms of this clause, Kinova warrants to End User that the Products are free of
defects in materials and workmanship that materially affect their performance for a period of two
(2) years from the date Kinova ships the Products to the End User ("Delivery Date").
KINOVA® Gen3 lite robot User guide 10
Kinova agrees to repair or replace (at Kinova's option) all Products which fail to conform to the
relevant warranty provided that:
1. notification of the defect is received by Kinova within the warranty period specified above;
2. allegedly defective Products are returned to Kinova, (at the End User’s expense, with Kinova's
prior authorization) within thirty (30) days of the defect becoming apparent;
3. the Products have not been altered, modified or subject to misuse, incorrect installation,
maintenance, neglect, accident or damage caused by excessive current or used with
incompatible parts;
4. the End User is not in default under any of its obligations under this Agreement;
5. replacement Products must have the benefit of the applicable warranty for the remainder of the
applicable warranty period.
If Kinova diligently repairs or replaces the Products in accordance with this section, it will be
deemed to have no further liability for a breach of the relevant warranty.
Allegedly defective Products returned to Kinova in accordance with this contract will, if found by
Kinova on examination not to be defective, be returned to the End User. Kinova may charge a fee
for examination and testing.
The warranty cannot be assigned or transferred and is to the sole benefit of the End User.
Where the Products have been manufactured and supplied to Kinova by a third party, any warranty
granted to Kinova in respect of the Products may be passed on to the End User.
Kinova is entitled in its absolute discretion to refund the price of the defective Products in the
event that such price has already been paid.
Disclaimer
KINOVA® and the Kinova logo are registered trademarks of Kinova inc., herein referred to as
Kinova.
KORTEX™ is a trademark of Kinova inc.
All other brand and product names are trademarks or registered trademarks of their respective
owners.
The mention of a product name does not necessarily imply an endorsement by Kinova. This manual
is furnished under a lease agreement and may only be copied or used in accordance with the terms
of such lease agreement. Except as permitted by the lease agreement, no part of this publication
may be reproduced, stored in any retrieval system, or transmitted, modified in any form or by any
means, electronic, mechanical, recording, or otherwise, without prior written consent of Kinova.
The content of this user guide is furnished for informational use only and is subject to change
without notice. It should not be construed as a commitment by Kinova. Kinova assumes no
responsibility or liability for any errors or inaccuracies that may appear in this document.
Changes are periodically made to the information herein and will be incorporated into new editions
of this publication. Kinova may make improvements and/or changes to the products and/or
software programs described in this publication at any time.
Any questions or comments concerning this document, the information it contains or the
product it describes may be addressed through the support page on the Kinova website
www.kinovarobotics.com/support or via support@kinova.ca.
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