Kinova Gen3 Manual de usuario
5 | kinovarobotics.com
KINOVA®Gen3
Ultra lightweight
robot
User Guide
Contents
Welcome..............................................................................................................................................................................6
About this document...................................................................................................................................................... 7
Acronyms and abbreviations.......................................................................................................................................8
Warranty.............................................................................................................................................................................11
Safety directives and warnings................................................................................................................................ 12
Disclaimer..........................................................................................................................................................................14
Risk assessment............................................................................................................................................................. 15
Normal use definition................................................................................................................................................... 16
Getting started.................................................................................................................................................................17
What's in the case?.................................................................................................................................................................... 17
Manipulating the robot joints when the robot is powered off...................................................................... 18
Robot mounting options......................................................................................................................................................... 18
Mounting the robot on a tabletop........................................................................................................................19
Mounting the robot on a horizontal surface without the table clamp.........................................20
Robot power adapter and E-stop.....................................................................................................................................23
Powering on the robot............................................................................................................................................................23
Power-up, booting, and initialization sequence.......................................................................................................24
Resetting the robot to factory settings.......................................................................................................................25
Operating the robot.................................................................................................................................................................. 25
Supported gamepad controllers...........................................................................................................................25
Putting the robot into admittance using the interface buttons.........................................................31
Connecting a computer to the robot.............................................................................................................................32
Connecting a computer to the robot via Ethernet (for the first time)..........................................32
KINOVA® KORTEX™ Web App.................................................................................................................................34
Changing the robot wired connection IP address......................................................................................36
Connecting a computer to the robot via Wi-Fi............................................................................................36
Robot components........................................................................................................................................................38
Base......................................................................................................................................................................................................38
Controller quick connect system..........................................................................................................................39
Controller connector panel.......................................................................................................................................42
Actuators.......................................................................................................................................................................................... 43
Interface module.........................................................................................................................................................................44
Vision module............................................................................................................................................................................... 46
Schematic and dimensions - 7 DoF spherical wrist............................................................................................ 48
Technical Specifications..........................................................................................................................................................49
Sensors.............................................................................................................................................................................................. 52
Base readings available.............................................................................................................................................. 53
Actuators readings available...................................................................................................................................54
Interface readings available.....................................................................................................................................54
End effector readings available.............................................................................................................................54
Effective workspace..................................................................................................................................................................55
Payload vs. workspace............................................................................................................................................................56
Interface module expansion - tips for installing tools....................................................................................57
End effector reference design...........................................................................................................................................58
Remove end cap from Interface module...................................................................................................................60
Robotiq Adaptive Grippers installation (optional)..................................................................................................61
Interface module bolting pattern.................................................................................................................................... 63
Interface module user expansion connector pinout........................................................................................... 63
Spring-loaded connector pinout....................................................................................................................................... 64
Robot communications and network interfaces................................................................................................66
Accessing Vision module color and depth streams.........................................................................................68
Concepts and terminology.........................................................................................................................................69
Robot key concepts...................................................................................................................................................................69
Terminology reference.............................................................................................................................................................71
General mathematics and robotics...................................................................................................................... 71
Features, components and functionalities......................................................................................................73
Control and Operation Modes.................................................................................................................................74
Control features............................................................................................................................................................. 76
Singularity avoidance............................................................................................................................................................... 76
Protection zones..........................................................................................................................................................................76
Control modes overview.............................................................................................................................................78
Trajectory control modes......................................................................................................................................................78
Joystick control modes...........................................................................................................................................................78
Admittance modes.....................................................................................................................................................................79
Configurations and safeties...................................................................................................................................... 80
Configurable parameters...................................................................................................................................................... 80
Base configuration..........................................................................................................................................................80
Actuators configuration............................................................................................................................................... 81
Device configuration......................................................................................................................................................82
Vision configuration.......................................................................................................................................................82
Safety items................................................................................................................................................................................... 83
Base (controller) safeties...........................................................................................................................................83
Actuators safeties...........................................................................................................................................................84
Interface module safeties..........................................................................................................................................87
Dimensions, specifications, and capabilities....................................................................................................... 48
Purpose............................................................................................................................................................................................. 88
Device availability of Web App......................................................................................................................................... 88
Platform and browser support.........................................................................................................................................90
User login.........................................................................................................................................................................................90
Web App layout and navigation.......................................................................................................................................92
Robot control panel..................................................................................................................................................................95
Cartesian virtual joystick control..........................................................................................................................95
Angular virtual joystick control............................................................................................................................. 97
Virtual joystick keyboard shortcuts....................................................................................................................98
Admittance modes panel...........................................................................................................................................99
Main pages....................................................................................................................................................................................100
Notifications...................................................................................................................................................................... 100
Camera...................................................................................................................................................................................101
Configurations...................................................................................................................................................................101
Actions.................................................................................................................................................................................. 104
Protection Zones.............................................................................................................................................................110
Controllers........................................................................................................................................................................... 113
Networks...............................................................................................................................................................................114
Users........................................................................................................................................................................................115
System Information.......................................................................................................................................................117
Monitoring............................................................................................................................................................................118
Upgrade................................................................................................................................................................................120
Snapshot tool................................................................................................................................................................................121
KINOVA® KORTEX™ Developer Guide.................................................................................................................. 122
Introduction................................................................................................................................................................................... 122
Devices and services...............................................................................................................................................................122
Available services..................................................................................................................................................................... 123
Users, connections and sessions....................................................................................................................................124
Services, methods, and messages................................................................................................................................ 124
KINOVA® KORTEX™ API and Google Protocol Buffer........................................................................................ 124
Service client-server model...............................................................................................................................................125
Notifications.................................................................................................................................................................................. 125
Blocking and non-blocking calls..................................................................................................................................... 125
Robot servoing modes.......................................................................................................................................................... 126
High-level servoing.......................................................................................................................................................126
Low-level servoing........................................................................................................................................................127
Device routing............................................................................................................................................................................. 128
Error management..................................................................................................................................................................128
KINOVA® KORTEX™ GitHub repository........................................................................................................................128
KINOVA®KORTEX™ ROS and KINOVA® KORTEX™ ROS GitHub overview...............................................129
Working with camera streams using GStreamer............................................................................................... 129
Windows command examples.............................................................................................................................130
Linux command examples......................................................................................................................................130
KINOVA® KORTEX™ Web App User Guide...........................................................................................................88
Introduction.....................................................................................................................................................................................88
Maintenance...................................................................................................................................................................142
Troubleshooting............................................................................................................................................................144
Base controller LEDs.............................................................................................................................................................. 144
How to respond to safety warnings and errors.................................................................................................. 145
Contacting Kinova support..................................................................................................................................................147
Guidance for advanced users..................................................................................................................................132
7 DoF singularity configurations.................................................................................................................................... 132
Reference frames and transformations....................................................................................................................133
Homogeneous transforms...................................................................................................................................... 133
Homogeneous transform matrices - 7 DoF spherical wrist..............................................................134
Standard robot frames..............................................................................................................................................136
Dynamic parameters of the 7 DoF robot..................................................................................................................137
KINOVA® Gen3 Ultra lightweight robot User Guide 6
Welcome
Welcome to the KINOVA® Gen3 Ultra lightweight 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:
www.kinovarobotics.com/support
KINOVA® Gen3 Ultra lightweight robot User Guide 7
About this document
User Guide contents and warnings.
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 udpates to this document. To download the most
up to date version of this document, visit the Kinova Technical resources page at
www.kinovarobotics.com/knowledge-hub/all-kinova-products.
For general inquiries please contact us at +1 (514) 277-3777
KINOVA® Gen3 Ultra lightweight robot User Guide 8
Acronyms and abbreviations
API
Application Programming Interface
CIDR
Classless Inter-Domain Routing
CISPR
Comité International Spécial des Perturbations Radioélectriques
EE
End Effector
EMI
Electromagnetic Interference
FOV
Field of View
fps
frames per second
GPIO
General-Purpose Input/Output
HDMI
High-Definition Multimedia Interface
IC
Integrated Circuit
IEEE
Institute of Electrical and Electronics Engineers
I2C
Inter-Integrated Circuit (bus)
I/O
Input / Output
IP
Ingress Protection or Internet Protocol
IT
Information Technology
KINOVA® Gen3 Ultra lightweight robot User Guide 9
ISO
International Organization for Standardization
LED
Light-Emitting Diode
n/c
no connection
NVRAM
Non-Volatile Random-Access Memory
PC
Personal Computer
Rx
Receiver
ROS
Robot Operating System
RPC
Remote Procedure Call
RPM
Revolutions Per Minute
RS
Recommended Standard
SSID
Service Set IDentifier
Tx
Transmitter
UART
Universal Asynchronous Receiver-Transmitter
UDP
User Datagram Protocol
USB
Universal Serial Bus
UL
Underwriters Laboratory
KINOVA® Gen3 Ultra lightweight robot User Guide 10
UV
Ultraviolet light
VLAN
Virtual Local Area Network
WEEE
Waste of Electrical and Electronic Equipment
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