Kinova Gen3 User Manual
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Kinova Gen3 User Manual

Ultra lightweight robot
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Summary of Contents for Kinova Gen3

  • Page 1 User Guide...

  • Page 2: Table Of Contents

    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...
  • Page 3 Dimensions, specifications, and capabilities....................... 48 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)....................
  • Page 4 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...
  • Page 5 Homogeneous transforms............................133 Homogeneous transform matrices - 7 DoF spherical wrist..............134 Standard robot frames..............................136 Dynamic parameters of the 7 DoF robot........................137 Maintenance................................... 142 Troubleshooting................................144 Base controller LEDs................................144 How to respond to safety warnings and errors....................145 Contacting Kinova support..............................147...

  • Page 6: Welcome

    KINOVA Gen3 Ultra lightweight robot User Guide ® Welcome ® Gen3 Ultra lightweight robot. Welcome to the KINOVA 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.

  • Page 7: About This Document

    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.

  • Page 8: Acronyms And Abbreviations

    KINOVA Gen3 Ultra lightweight robot User Guide ® Acronyms and abbreviations Application Programming Interface CIDR Classless Inter-Domain Routing CISPR Comité International Spécial des Perturbations Radioélectriques End Effector Electromagnetic Interference Field of View frames per second GPIO General-Purpose Input/Output HDMI High-Definition Multimedia Interface...
  • Page 9 KINOVA Gen3 Ultra lightweight robot User Guide ® International Organization for Standardization Light-Emitting Diode no connection NVRAM Non-Volatile Random-Access Memory Personal Computer Receiver Robot Operating System Remote Procedure Call Revolutions Per Minute Recommended Standard SSID Service Set IDentifier Transmitter UART...
  • Page 10 KINOVA Gen3 Ultra lightweight robot User Guide ® Ultraviolet light VLAN Virtual Local Area Network WEEE Waste of Electrical and Electronic Equipment...

  • Page 11: Warranty

    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").

  • Page 12: Safety Directives And Warnings

    Gen3 Ultra lightweight robot User Guide ® Safety directives and warnings ® Directives, warnings and safety considerations for the KINOVA Gen3 Ultra lightweight 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.
  • Page 13 Wipe down the surface with a soft dry cloth to keep the surface of the interface clean. Do not use the robot in heavy rain. If this happens, contact Kinova support to schedule maintenance by an authorized Kinova technician.

  • Page 14: Disclaimer

    Kinova website: www.kinovarobotics.com/support Kinova would like to thank you for your contribution, while retaining the right to use or distribute whatever information you supply in any way it believes appropriate (without...

  • Page 15: Risk Assessment

    KINOVA Gen3 Ultra lightweight robot User Guide ® 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.

  • Page 16: Normal Use Definition

    ® 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: •...

  • Page 17: Getting Started

    • moving the robot in admittance using physical buttons • connecting a computer to the robot • connecting to the KINOVA ® KORTEX™ Web App What's in the case? ® This section describes the KINOVA Gen3 Ultra lightweight robot shipping case contents. Figure 1: shipping case contents...

  • Page 18: Manipulating The Robot Joints When The Robot Is Powered Off

    30 minutes. Make sure to keep the Quick Start Guide as a reference for people in your team or organization getting newly acquainted with your robot. The Quick Start Guide is also available on the Kinova website Knowledge Hub: www.kinovarobotics.com/knowledge-hub/all-kinova-products The contents of the box are arranged in three layers from top to bottom.

  • Page 19: Mounting The Robot On A Tabletop

    KINOVA Gen3 Ultra lightweight robot User Guide ® Robot mounting options This section describes the physical mounting options for the robot. The first step to getting started with the arm after unboxing is to physically mount the arm in a stable manner so that the arm can be connected and used.

  • Page 20: Mounting The Robot On A Horizontal Surface Without The Table Clamp

    KINOVA Gen3 Ultra lightweight robot User Guide ® 5. Once the robot is fully lowered onto the base controller, close the clamp to secure the robot in place on the base controller.. Results The robot is now mounted on the tabletop.
  • Page 21 KINOVA Gen3 Ultra lightweight robot User Guide ® 3. Use appropriate screws to mount either the base controller or the mounting plate to the surface. If the base controller is mounted directly, the screws will need to go through the mounting surface from the other side.
  • Page 22 KINOVA Gen3 Ultra lightweight robot User Guide ® Mounting details Figure 3: Base and mounting holes...

  • Page 23: Robot Power Adapter And E-Stop

    KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 4: Base mounting holes pattern Robot power adapter and E-stop This section describes the power adapter and E-stop. The power adapter allows power to be supplied to the robot using a wall outlet as a source. The cable from the power adapter connects to the power connector on the base controller using a Lumberg 0322 08 connector.

  • Page 24: Power-Up, Booting, And Initialization Sequence

    KINOVA Gen3 Ultra lightweight robot User Guide ® To power up the robot: 1. Connect the captive cable from the power supply to the circular Lumberg connector on the rear connector panel in the controller of the robot, rotating the outer cylindrical locking shell of the connector until it is just tight enough to secure the connector.

  • Page 25: Resetting The Robot To Factory Settings

    This section gives an overview of the methods of controlling the robot. There are three ways to operate the robot: • physical gamepad (Xbox controller) ® KORTEX™ Web App virtual joysticks) • virtual joysticks over a network connection (KINOVA ® • programmatically (KINOVA KORTEX™ API) Supported gamepad controllers This section describes the supported gamepad controllers of the robot.
  • Page 26 KINOVA Gen3 Ultra lightweight robot User Guide ® Default gamepad control mappings - Xbox gamepad This section describes the default controller mappings between the Xbox gamepad and the actions on the robot. Gamepad mappings overview The robot has three default control mappings for the Xbox gamepad.
  • Page 27 KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 5: General control mappings with Xbox gamepad Twist linear mapping Twist linear is the default gamepad mapping when the robot is turned on and the controller is connected. In this mode the end effector is translated in space with respect to the Cartesian base frame.
  • Page 28 KINOVA Gen3 Ultra lightweight robot User Guide ® Action Control down Cartesian translation command X down Cartesian translation Right stick command Z Speed decrease down D-pad increase Figure 6: Twist linear controls with Xbox gamepad Twist angular mapping Twist angular can be thought of as a companion to the Twist linear control mode. In Twist linear, the end effector is translated with respect to the base reference frame while leaving the orientation unchanged.
  • Page 29 KINOVA Gen3 Ultra lightweight robot User Guide ® Twist linear and Twist angular together specify a twist (consisting of three linear velocity terms and three angular velocity terms) to be applied to the end effector (Cartesian control). Table 7: Twist angular - general controls plus:...
  • Page 30 KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 7: Twist angular controls with Xbox gamepad Joint mapping Joint control offers direct control of the rotational movement of the joint actuators. In this mode you can toggle through the joints (actuators) one by one, starting with the first and going through in increasing order.

  • Page 31: Putting The Robot Into Admittance Using The Interface Buttons

    KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 8: Joint controls with Xbox gamepad Putting the robot into admittance using the interface buttons This section describes how to put the robot into admittance modes using the buttons on the sides of the interface module.

  • Page 32: Connecting A Computer To The Robot

    KINOVA Gen3 Ultra lightweight robot User Guide ® When the button is released, the robot will no longer be in admittance mode and will return to the previously engaged control mode. Connecting a computer to the robot This section gives an overview of the methods available to connect a computer to the robotic arm.
  • Page 33 KINOVA Gen3 Ultra lightweight robot User Guide ® 3. Select Change adapter settings 4. Select wired Ethernet adapter (i.e. Local Area Connection) and choose Properties. 5. Select Internet Protocol Version 4 (TCP/IPv4) and choose Properties. 6. Select Use the following IP address and enter IPv4 address:192.168.1.11 and Subnet...

  • Page 34: Kinova ® Kortex™ Web App

    You can now access the Web App. KINOVA KORTEX™ Web App ® ® This section gives an overview of the KINOVA KORTEX™ Web App. ® KORTEX™ Web App provides a HTML Web browser based GUI to interact with The KINOVA the arm and perform basic tasks without using programming commands.
  • Page 35 Web App is a responsive web application, and can be run from both mobile devices (smartphone or tablet) or desktop computers. ® KORTEX™ Web App User Guide section. The Web app is described in detail in the KINOVA ® Accessing the KINOVA KORTEX™ Web App This section describes how to launch the Web App.

  • Page 36: Changing The Robot Wired Connection Ip Address

    KINOVA Gen3 Ultra lightweight robot User Guide ® Changing the robot wired connection IP address This section describes how to change the robot's wired connection IP address. Before you begin You need to have already connected the computer to a wired network connection configure the robot for a wired connection (you will need information about the available IP addresses on your local area network).
  • Page 37 KINOVA Gen3 Ultra lightweight robot User Guide ® About this task The robot features a Wi-Fi adapter. This allows the arm to connect to a local Wi-Fi connection. Once this connection is established, other devices on the same Wi-Fi network can then connect to the robot wirelessly.

  • Page 38: Robot Components

    KINOVA Gen3 Ultra lightweight robot User Guide ® Robot components ® This page describes the main components of the KINOVA Gen3 Ultra lightweight robot. The robot consists of: • base (base shell and controller) • actuators • interface module • vision module The following image shows the main components of the robot.

  • Page 39: Controller Quick Connect System

    KINOVA Gen3 Ultra lightweight robot User Guide ® connected with screws to a circular mounting plate with through holes for mounting to surfaces and a slot to put a clamp between the robot and the plate for tabletop mounting. Figure 11: Mounting plate...
  • Page 40 KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 12: Controller quick connect The base shell slides over and onto the controller, establishing an electrical connection with the arm. The base shell is secured in place on the controller by closing the front clamp.
  • Page 41 KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 14: Base shell and arm removal The controller features a locking screw within the mounting hole on the front bottom left (from the perspective of an observer behind the connector panel). Turning the locking screw with a 3 mm hex key clockwise will cause the screw to go forward and protrude through a hole above the top surface of the controller a few mm until it reaches the end of its travel.

  • Page 42: Controller Connector Panel

    KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 15: Lock screw mechanism Controller connector panel This section describes the controller connector panel of the robotic arm. The controller connector panel is located at the rear of the controller. It features the following elements: •...

  • Page 43: Actuators

    KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 16: Controller connector panel * to be implemented in future software release Actuators This section provides an overview of the robot actuators. The rotational motion at each of the joints of the robot is powered by rotary actuators. There is one actuator for each joint.

  • Page 44: Interface Module

    KINOVA Gen3 Ultra lightweight robot User Guide ® º 13 N·m (nominal) º 34 N·m (peak) • actuator torque (large): º 32 N·m (nominal) º 74 N·m (peak) Interface module This section describes the interface module. The interface module provides an interface for connecting a gripper or other tools at the end of the arm.
  • Page 45 KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 17: Interface module The interface also includes four mounting holes for physical mounting of an end effector and a position key hole used for alignment of the end effector in the right orientation.

  • Page 46: Vision Module

    Note: When there is no end effector present, it is recommended to place an end cap over the face of the interface module. Kinova provides an end cap with the robot. This end cap is attached to the interface with screws using the mounting holes on the interface. The end cap needs to be removed to attach an end effector to the robot.
  • Page 47 KINOVA Gen3 Ultra lightweight robot User Guide ® Vision module specifications Color sensor: • resolution and framerates: º 1920 x 1080 @ 30, 15 fps (16:9) º 1280 x 720 @ 30, 15 fps (16:9) º 640 x 480 @ 30, 15 fps (4:3) º...

  • Page 48: Dimensions, Specifications, And Capabilities

    KINOVA Gen3 Ultra lightweight robot User Guide ® Dimensions, specifications, and capabilities Schematic and dimensions - 7 DoF spherical wrist This section provides a schematic diagram of the system and its physical dimensions. Figure 20: 7 DoF spherical wrist frames definition and dimensions The image above defines reference frames for the base, joints (when all joint angles = 0) and end effector.

  • Page 49: Technical Specifications

    - ∞ + ∞ Technical Specifications ® This section provides the technical specifications for the KINOVA Gen3 Ultra lightweight robot, categorized for ease of reference. Some of these also appear within the main body of the text. Table 11: Safety / Security...
  • Page 50 KINOVA Gen3 Ultra lightweight robot User Guide ® Table 12: Environmental Parameter Value(s) -30 °C to 35°C (operating) Temperature -30 °C to 50 °C (storage) IPX3 (liquid)** Robot ingress protection IP3X (solid) Relative humidity (non-condensing) 15% to 90% (operating) 70 kPa to 106 kPa **...
  • Page 51 KINOVA Gen3 Ultra lightweight robot User Guide ® Table 14: Robot Parameter Value(s) Weight 8.3 kg (with vision module, no gripper) Payload 4 kg (mid-range continuous; no gripper) 4.5 kg (full-reach peak / temporary; no gripper) 1.1 kg (full-reach continuous; no gripper)

  • Page 52: Sensors

    KINOVA Gen3 Ultra lightweight robot User Guide ® Table 17: Vision Feature Detail 480 x 270 @ 30, 15, 6 fps (16:9) 424 x 240 @ 30, 15, 6 fps (16:9) Depth sensor FOV: 77° (diagonal) focal length (range) - 18 cm to ∞...

  • Page 53: Base Readings Available

    KINOVA Gen3 Ultra lightweight robot User Guide ® • arm present detection • 6-axis accelerometer / gyroscope Actuator sensors • motor phases current sensors (one per phase) • motor phases temperature sensors (one per phase) • CPU temperature sensor • input voltage sensor •...

  • Page 54: Actuators Readings Available

    KINOVA Gen3 Ultra lightweight robot User Guide ® Actuators readings available Table 20: Actuators readings available via API Field name Description angular position of the actuator in ° position angular velocity of the actuator in ° / sec velocity torque in N·m...

  • Page 55: Effective Workspace

    KINOVA Gen3 Ultra lightweight robot User Guide ® Field name Description Measured Cartesian orientation tool_pose_theta_x (X-axis) of the end effector in ° Measured Cartesian orientation tool_pose_theta_y (Y-axis) of the end effector in ° Measured Cartesian orientation tool_pose_theta_z (Z-axis) of the end effector in °...

  • Page 56: Payload Vs. Workspace

    KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 21: 7 DoF robot nominal workspace (measurements in mm) Payload vs. workspace This section describes the variation of payload over the workspace and depending on the type of use. Overview The payload of the robot is the maximum mass that the robot can hold up at the end effector.

  • Page 57: Interface Module Expansion - Tips For Installing Tools

    KINOVA Gen3 Ultra lightweight robot User Guide ® Interface module expansion - tips for installing tools This section describes what is needed to install a new tool onto the interface module. At some point, you may want to install a new tool such as a gripper or sensor onto the robot.

  • Page 58: End Effector Reference Design

    ISO 9409-1-A50 mounting plate pattern common to many industrial robots. Kinova recommends that the mechanical interface part of your end effector be machined from solid aluminium, though for applications where no payload will be attached (only sensors or PCBs), a 3D-printed interface part may suffice.
  • Page 59 KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 22: Reference design mechanical interface (details in reference design package) Electrical interface The electrical reference design acts as a breakout, giving access to: • 24 V / 0.5 A • 5 V / 2.5 A (through a DC-DC buck converter) •...

  • Page 60: Remove End Cap From Interface Module

    • STL file of the mechanical interface, for 3D-printing • STEP file and PDF drawing of the mechanical interface, for machining • STEP file of the Kinova breakout PCB for integration into CAD programs • KR13933.ASY file which directs the assembly of the PCB (including the BOM) •...

  • Page 61: Robotiq Adaptive Grippers Installation (Optional)

    KINOVA Gen3 Ultra lightweight robot User Guide ® Note: Set aside the O-ring with the screws and end cap for safe keeping. Robotiq Adaptive Grippers installation (optional) This section describes the procedure for installing a Robotiq Adaptive Grippers on the robot.
  • Page 62 KINOVA Gen3 Ultra lightweight robot User Guide ® 2. Place the O-ring around the diameter of the gripper. The O-ring protects the junction between the interface module and gripper from water ingress and EMI. 3. Locate the positioning key on the Robotiq Gripper and the corresponding hole on the interface module face.

  • Page 63: Interface Module Bolting Pattern

    KINOVA® Gen3 Ultra lightweight robot User Guide What to do next For your personal safety, it is strongly recommended that you read the user documentation for the Robotiq Gripper before use. Interface module bolting pattern This section describes the bolting pattern for a tool interfacing with the Interface module.

  • Page 64: Spring-Loaded Connector Pinout

    KINOVA Gen3 Ultra lightweight robot User Guide ® Table 23: Interface module user expansion pinout Name Comment +24V USER 24V / 0.5A power; a protection device limits current shared between gripper and user expansion port to 1A total. +24V USER...
  • Page 65 KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 27: Spring-loaded connector Table 24: Spring-loaded connector pinout Name Comment power return path +24V 24V / 1A power for end device (current limit shared with interface module user expansion port) +24V...

  • Page 66: Robot Communications And Network Interfaces

    Ethernet switch of the base. The Kinova vision module and any 3rd party tool that makes use of Ethernet communications user expansion pins in the interface connect directly to the interface module Ethernet switch.
  • Page 67 KINOVA Gen3 Ultra lightweight robot User Guide ® The robot Ethernet network features three VLANs: • VLAN 10 : control • VLAN 20 : expansion • VLAN 30 : external The base has network interfaces to all three of these VLANs:...

  • Page 68: Accessing Vision Module Color And Depth Streams

    KINOVA Gen3 Ultra lightweight robot User Guide ® Accessing Vision module color and depth streams This section describes access to the video module color and depth streams. The video module sensors capture two video streams: • color • depth The data from these streams is sent from the vision module back to the base controller via the vision / expansion channel carried over the internal flex cable links.

  • Page 69: Concepts And Terminology

    KINOVA Gen3 Ultra lightweight robot User Guide ® Concepts and terminology Robot key concepts This section describes some important concepts related to the robot. Actions An action is something that the user wants the robot to do. This can include (but is not limited to): •...
  • Page 70 KINOVA Gen3 Ultra lightweight robot User Guide ® • factory restore • protection zone reached / entered / exited • change in control, operation, or servoing mode A notification will include the user profile, type of event, details of the event (if applicable), and a timestamp.

  • Page 71: Terminology Reference

    KINOVA Gen3 Ultra lightweight robot User Guide ® Terminology reference The following sections give an overview of the terminology of the robotic arm. For ease of reference, the terminology reference section has been divided into the following categories: • Acronyms •...
  • Page 72 KINOVA Gen3 Ultra lightweight robot User Guide ® Gravity Compensation The gravity model computes the forces and torques due to gravity at each joint. The gravity torques are then subtracted from the measured torques, resulting in a gravity- free torque vector.

  • Page 73: Features, Components And Functionalities

    KINOVA Gen3 Ultra lightweight robot User Guide ® Trajectory A specific path in the Cartesian robot workspace (e.g. a straight line trajectory for the end effector) can be defined by the user. Twist Generalized velocity vector, which is a combination of translationnal velocity and rotational velocity.

  • Page 74: Control And Operation Modes

    KINOVA Gen3 Ultra lightweight robot User Guide ® Off-motion An instruction fed to the robot by means of the human-to-machine input device. This command is interpreted by the robot's controller system. The proper instruction is then fed to the robot's actuators, which enable it to comply with the initial command.
  • Page 75 KINOVA Gen3 Ultra lightweight robot User Guide ® Cartesian Mode Translation and orientation of the end effector (EE) are defined in the task space. Then, a generalized Inverse Kinematics (IK) solver determines the robot joint movements needed to reach the target motion.

  • Page 76: Control Features

    KINOVA Gen3 Ultra lightweight robot User Guide ® Control features This section gives an overview of control features of the robot. The robot has the following control features that improve the safety and usability of the robot, and protect it from damage: •...
  • Page 77 KINOVA Gen3 Ultra lightweight robot User Guide ® A planar or disc-shaped protection zone can be defined by setting the thickness of the zone to zero in either a rectangular prism or cylindrical protection zone. Protection zones can be defined, edited, and deleted using either the Web App or the developer...

  • Page 78: Control Modes Overview

    º Cartesian admittance º joint admittance º null space admittance The control mode can be set using API commands or the KINOVA KORTEX™ Web App. ® Depending on the API command used, the robot control mode will change.The control mode will also change depending on the Virtual Joystick interface being used.

  • Page 79: Admittance Modes

    KINOVA Gen3 Ultra lightweight robot User Guide ® Joystick control modes are used by any connected gamepad and by the Web App virtual joysticks. To enable Joystick Control Mode, use API methods or take control of the robot using either a connected gamepad or the Web App control panel virtual joystick controls.

  • Page 80: Configurations And Safeties

    KINOVA Gen3 Ultra lightweight robot User Guide ® Configurations and safeties Configurable parameters This section lists the configurable parameters of the robotand gives guidance on how to configure them. The robotic arm includes a number of parameters that can be configured to customize the operation of the robot.

  • Page 81: Actuators Configuration

    KINOVA Gen3 Ultra lightweight robot User Guide ® Configurable item Description Set: • SSID Wi-Fi • security key • automatic connection allowed Set robot admittance mode (Cartesian, null-space, angular). This allows you to Admittance move the robot by applying forces and torques by hand to the robot and joints.

  • Page 82: Device Configuration

    KINOVA Gen3 Ultra lightweight robot User Guide ® Configurable item Description Set vector drive parameters: • kpq Vector drive • kiq parameters • kpd • kid Set encoder derivative parameters: Encoder derivative • maximum window width parameters • minimum encoder tick count Set command mode.

  • Page 83: Safety Items

    KINOVA Gen3 Ultra lightweight robot User Guide ® Configurable item Description Depth camera settings • exposure • gain • enable auto-exposure • visual presets • frames queue size • enable error polling • enable output trigger • depth unit setting in m •...
  • Page 84 KINOVA Gen3 Ultra lightweight robot User Guide ® Base (controller) safeties The following Base-related Safety items are viewable in the Web App. Table 32: Base Safety items lower warning Hard Default Safety Item Description limit threshold upper error Firmware Indicates a failure in the Update Failure firmware update process.
  • Page 85 KINOVA Gen3 Ultra lightweight robot User Guide ® Actuators safeties The following actuator-related Safety items are viewable and configurable in the Web application. Table 33: Actuator Safety items lower warning Default Safety Item Description Hard limit threshold upper error 0°...
  • Page 86 KINOVA Gen3 Ultra lightweight robot User Guide ® lower warning Default Safety Item Description Hard limit threshold upper error The input optical encoder 0° 10° position value doesn’t Input Encoder match with the magnetic Magnetic Mismatch 45° 15° encoder position within +/- threshold degrees.

  • Page 87: Interface Module Safeties

    KINOVA Gen3 Ultra lightweight robot User Guide ® Interface module safeties The following Interface module-related Safety items are viewable and configurable in the Web application. Table 34: Interface Safety items Safety Description Hard limit lower Default warning Item threshold upper...

  • Page 88: Kortex™ Web App User Guide

    KINOVA Gen3 Ultra lightweight robot User Guide ® KINOVA KORTEX™ Web App User Guide ® Introduction ® KORTEX™ Web App. The Web App is a useful The following sections describe the KINOVA interface for controlling, configuring and monitoring the robotic arm.
  • Page 89 KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 29: Tablet...

  • Page 90: Platform And Browser Support

    KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 30: Smartphone Platform and browser support This section describes platform and browser support for the Web App. The Web App has the following platform and browser support. Browser support Support for Google Chrome version 64+ is available on the following platforms: Operating system support •...
  • Page 91 KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 31: Launching... Enter your user name and password and press the CONNECT button. The default username and password when the robot first arrives are: • username: admin • password: admin Figure 32: User login On pressing CONNECT, the Web App will launch and initialize.

  • Page 92: Web App Layout And Navigation

    KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 33: Initializing... Figure 34: Getting robot configurations Web App layout and navigation This section describes the layout and navigation of the Web App. The Web App screen is divided into several main sections: •...
  • Page 93 KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 35: Web application Layout Pages panel In the middle of the screen is the main information panel containing the contents of each page of the application. The pages panel on the left of the screen gives easy access to the main pages of the application: •...
  • Page 94 KINOVA Gen3 Ultra lightweight robot User Guide ® Note: When the screen or window size is small (on a tablet or smartphone browser, or when the app is viewed in a small desktop window), the navigation panel will be hidden by default. If you click on the menu icon in the upper left hand corner of the screen, the navigation panel will be made visible.

  • Page 95: Robot Control Panel

    KINOVA Gen3 Ultra lightweight robot User Guide ® Robot control panel In the lower right is the virtual joysticks / admittance panel. This panel consists of a group of five buttons. Three are to launch pop-up windows for virtual joystick controls and admittance mode toggles •...
  • Page 96 KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 36: Cartesian joystick panel The Cartesian virtual joystick panel is launched by clicking the first button ( ) on the robot control panel. Translation / orientation joystick controls The Cartesian virtual joystick controls allow you to control the translation and orientation of the end effector.

  • Page 97: Angular Virtual Joystick Control

    KINOVA Gen3 Ultra lightweight robot User Guide ® • the fixed base reference frame • the tool reference frame The tool reference frame is useful when controlling the robot using visual feedback from the camera sensors. The joystick will control movement of the end effector with respect to the tool reference frame, which is very close to the reference frame of the camera.

  • Page 98: Virtual Joystick Keyboard Shortcuts

    KINOVA Gen3 Ultra lightweight robot User Guide ® The value of each angle is displayed in degrees. The value displayed will be restricted to one full rotation. The maximum angular speed (or torque) for each actuator can be adjusted using the buttons.

  • Page 99: Admittance Modes Panel

    KINOVA Gen3 Ultra lightweight robot User Guide ® Control Shortcut key decrease angle right control Angular joystick keyboard shortcuts Control Shortcut key increase angle Actuator 1 decrease angle increase angle Actuator 2 decrease angle increase angle Actuator 3 decrease angle...

  • Page 100: Main Pages

    KINOVA Gen3 Ultra lightweight robot User Guide ® • Null Space admittance mode - end effector stays in the same pose while the user manipulates the joints of the arm (within the null space). The arm moves within the null space according to the external torques applied.

  • Page 101: Camera

    KINOVA Gen3 Ultra lightweight robot User Guide ® displayed are only those that have occurred since the web application was opened. These events will be lost when the application is closed. Camera This section describes the Camera page of the Web App.
  • Page 102 KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 41: Configurations page The settings menu is divided into four tabs: • Base • Actuators • Interconnect (interface module) • Vision Each of these tabs contain two sub-tabs: • Configurations • Safety Configurations tab This section describes the Configurations tab of the Web App Configurations page.
  • Page 103 KINOVA Gen3 Ultra lightweight robot User Guide ® Most of the configurable parameters of the robot can be configured on this page. Some other configurable items are handled on their own pages: • Protection Zones • Control Mappings • Actions •...

  • Page 104: Actions

    KINOVA Gen3 Ultra lightweight robot User Guide ® Detailed safeties information For more detailed information on robot safety thresholds, see here. Actions This section describes the Actions page of the Web App. The Actions page allows user to define, view, and edit robot actions, as well as build sequences and play back actions and sequences.
  • Page 105 KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 45: '+' menu If the screen gets crowded after a while, you have the option to filter to show only the chosen types of actions. Figure 46: Action filter Information about defined actions is viewable in information cards which come in two sizes, small and large, which can be toggled with buttons at the top of the main panel.
  • Page 106 KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 47: Information card From the large cards, you are able to: • edit the action • delete the action • duplicate the action • assign a color code to the card •...
  • Page 107 KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 48: 'More' pop-up menu Chosing Edit brings up an interface to modify the parameters of the action. Figure 49: Parameter modifications Creating actions using snapshot tool The snapshot button ( ) at the bottom of the screen can be used to capture the current robot Cartesian pose, angular pose, or gripper state.
  • Page 108 KINOVA Gen3 Ultra lightweight robot User Guide ® Sequence editor This section describes the sequence editor on the Web App Actions page. Choosing More > Edit for a sequence on the Actions page brings up a sequence editor panel. Figure 50: Sequence editor The sequence editor is made up of three sections: •...
  • Page 109 KINOVA Gen3 Ultra lightweight robot User Guide ® Notice that a red garbage can icon will also appear when an action is selected to move. To delete the action from the sequence, drag the action onto the garbage can until the garbage can visibly expands.

  • Page 110: Protection Zones

    KINOVA Gen3 Ultra lightweight robot User Guide ® The hold to play toggle (by default, activated) controls the playback. When the toggled on, the playback will only continue as long as the play button is held down. When not toggled on, a single press of the play button will suffice for the playback to execute completely.
  • Page 111 KINOVA Gen3 Ultra lightweight robot User Guide ® includes controls to activate, edit, delete, and duplicate protection zones, as well as to apply a color code to the card. Figure 52: Protection Zone card Medium cards are somewhat smaller than the large, with all the same information and controls, except for the ability to apply a color code to the card.
  • Page 112 KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 54: Configure protection zone There are two tabs: • Zone Shape - for defining the protection zone geometry • Limits - for setting limits on velocity within an envelope surrounding the shape.

  • Page 113: Controllers

    KINOVA Gen3 Ultra lightweight robot User Guide ® • Envelope Translation Speed • Envelope Orientation Speed In addition, the thickness of the envelope can be configured between 0 and 1000 cm. Controllers This section describes the Controllers page of the Web App.

  • Page 114: Networks

    KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 57: Xbox Mapping tab Figure 58: Wrist Mapping tab At any given time, one map is set as active for the controller. The active controller map is indicated with a check mark icon. Another mapping can be set as active by clicking on the tab for the mapping.

  • Page 115: Users

    KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 59: Networks page The page has two tabs, one for each connection method. The Ethernet Settings tab allows you to configure: • IPv4 address • IPv4 subnet mask • IPv4 default Gateway The Wi-Fi Settings tab allows you to enable Wi-Fi networking with the robot and find and connect to available Wi-Fi networks.
  • Page 116 KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 61: Users page Defined profiles are displayed as information cards on the main information panel of the page. The cards are in three different sizes: • large • medium • small Card sizes can be toggled using buttons on the upper right of the main information panel.

  • Page 117: System Information

    KINOVA Gen3 Ultra lightweight robot User Guide ® 2. Enter the information for the user profile including name, user name, and password. 3. When you are done adding information, press ADD to create the new user profile. Results The new user profile will be created. The next time you log on to the Web App, you will be able to log in with these credentials.

  • Page 118: Monitoring

    KINOVA Gen3 Ultra lightweight robot User Guide ® • Interconnect (interface module) • Vision For all devices, information is given on: • bootloader version • device type • firmware version • MAC address • model, part, and serial number Monitoring This section describes the Monitoring page of the Web App.
  • Page 119 KINOVA Gen3 Ultra lightweight robot User Guide ® º measured torque (N·m) º measured velocity (° / s) • Interconnect º acceleration - x, y, and z (m / s º angular velocity x, y, and z of interconnect (° / s) •...

  • Page 120: Upgrade

    The upgrade page provides an interface to upload a new upgrade package and initiate the upgrade. ® The page also provides information on the current Web App and KINOVA KORTEX™ API versions, as well as the current firmware versions of the robot devices.

  • Page 121: Snapshot Tool

    KINOVA Gen3 Ultra lightweight robot User Guide ® Upgrading the robot firmware and software This section describes the process to upgrade the robot firmware and software using the Web App. Before you begin • A new robot update package needs to have been previously downloaded to the development computer.

  • Page 122: Kinova ® Kortex™ Developer Guide

    This growing and evolving framework will allow you to configure and control the robot programmatically, adapting to your specific needs and ® supporting you in integrating new Kinova products into robotics applications. The KINOVA ® Gen3 Ultra lightweight robot, but will KORTEX™...

  • Page 123: Available Services

    Available services This section lists the available robot services. Kinova makes available a number of services for developers, each of which includes functions and data types supported for C++ and Python. • Session - provides functions for opening and closing sessions with the robot. This service is used at the beginning and end of every session with the robot to authenticate the user.

  • Page 124: Users, Connections And Sessions

    The API services offer a set of RPC and pub/sub methods. The methods exchange data which are structured as Google Protocol Buffer message objects. ® KINOVA KORTEX™ API and Google Protocol Buffer This section describes the use of Google Protocol Buffer for the KINOVA KORTEX™ API. ® On Google Protocol Buffer ®...

  • Page 125: Service Client-Server Model

    KINOVA Gen3 Ultra lightweight robot User Guide ® • set a nested object • get/set a collection For more details on how the above works, check out the following documentation on the Google Protocol Buffer website: • C++ tutorial: https://developers.google.com/protocol-buffers/docs/reference/cpp-generated •...

  • Page 126: Robot Servoing Modes

    There are two types of non-blocking calls available in the C++ API: • Future / Promise • Registered callback ® For more information on how this works, see the API documentation on the KINOVA KORTEX™ GitHub respository. Robot servoing modes This section describes the concept of servoing modes on the robot.

  • Page 127: Low-Level Servoing

    KINOVA Gen3 Ultra lightweight robot User Guide ® High-level servoing can in theory be either single-level (one user controls the robot at a time in high-level servoing) or multi-level (multiple users simultaneously control the robot at the same time). Note: Currently only single-level servoing is supported by the API.

  • Page 128: Device Routing

    The other category is for errors coming from the target device. For each high level category, there are also more detailed and specific errors. ® For more information about the error codes that can be produced, see the KINOVA KORTEX™ GitHub documentation.

  • Page 129: Kinova ® Kortex™ Ros And Kinova ® Kortex™ Ros Github Overview

    ® This section describes the KINOVA KORTEX™ GitHub repository. ® For more detailed information about developing applications using the API visit the KINOVA KORTEX™ GitHub repository at: github.com/kinovarobotics/kortex The repository offers access to a number of resources for developers. • setup instructions and release notes •...

  • Page 130: Working With Camera Streams Using Gstreamer

    KINOVA Gen3 Ultra lightweight robot User Guide ® Working with camera streams using GStreamer This section describes how to work with vision module camera streams using the GStreamer framework. GStreamer Kinova recommends that developers use the GStreamer framework for handling the camera's sensor streams.
  • Page 131 KINOVA Gen3 Ultra lightweight robot User Guide ® Linux command examples This section provides examples of using GStreamer with the robot vision module camera streams on the Linux command line. Color stream CLI example: command to display the color stream gst-launch-1.0 rtspsrc location=rtsp://192.168.1.10/color...

  • Page 132: Guidance For Advanced Users

    KINOVA Gen3 Ultra lightweight robot User Guide ® Guidance for advanced users This section gathers together reference information on advanced topics. Introduction The following contents are intended for advanced users. 7 DoF singularity configurations This section describes the singularity configurations of the 7 DoF robot.

  • Page 133: Reference Frames And Transformations

    KINOVA Gen3 Ultra lightweight robot User Guide ® Singularity Description Robot behavior Joints 2 and 6 singularity Joint 2 is at 0° so that joints Due to singularity avoidance, 1 and 3 are perfectly aligned it’s not possible to bring joint 2 and have the same effect.

  • Page 134: Homogeneous Transform Matrices - 7 Dof Spherical Wrist

    KINOVA Gen3 Ultra lightweight robot User Guide ® is the transform from the previous frame [i-1] to the current frame [i] where q , the angle for joint i, is 0. ) is the transformation matrix for a rotation of q around joint i (the z axis for the joint frame is always defined to be along the joint axis of rotation.)
  • Page 135 KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 70: Frame definitions and dimensions (all joints at 0 position, dimensions in...
  • Page 136 KINOVA Gen3 Ultra lightweight robot User Guide ® Table 38: Transformation matrices Transformation Base to frame 1 Frame 1 to frame 2 Frame 2 to frame 3 Frame 3 to frame 4 Frame 4 to frame 5 Frame 5 to frame 6...

  • Page 137: Standard Robot Frames

    KINOVA Gen3 Ultra lightweight robot User Guide ® Standard robot frames This section describes the standard frames of the robotic arm. The robot has three standard frames: • base frame (base reference frame) • rotating frame (actuator 1 reference frame) •...
  • Page 138 KINOVA Gen3 Ultra lightweight robot User Guide ® Table 39: Base Physical quantity Value mass (kg) 1.697353 center of mass (0.000648, -0.000166, 0.084487) coordinates (m) moments of inertia (kg · m Table 40: Link 1 Physical quantity Value mass (kg) 1.377353...
  • Page 139 KINOVA Gen3 Ultra lightweight robot User Guide ® Table 41: Link 2 Physical quantity Value mass (kg) 1.163667 center of mass (-0.000044, -0.099580, -0.013278) coordinates (m) moments of inertia (kg · m Table 42: Link 3 Physical quantity Value mass (kg) 1.163667 kg...
  • Page 140 KINOVA Gen3 Ultra lightweight robot User Guide ® Table 43: Link 4 Physical quantity Value mass (kg) 0.930287 center of mass (-0.000018, -0.075478, -0.015006) coordinates (m) moments of inertia (kg · m Table 44: Link 5 Physical quantity Value mass (kg) 0.678106...
  • Page 141 KINOVA Gen3 Ultra lightweight robot User Guide ® Table 45: Link 6 Physical quantity Value mass (kg) 0.678106 center of mass ( 0.000001, -0.045483, -0.009650) coordinates (m) moments of inertia (kg · m Table 46: Interface Module Physical quantity Value mass (kg) 0.364223...

  • Page 142: Maintenance

    Maintenance This section describes maintenance tasks for the robot. Maintenance overview Currently, none of the components of the robot are field replaceable. Contact Kinova for assistance in the case of any component breakdown or malfunction. Preventive Maintenance Some preventive maintenance tasks are helpful for protecting your robot and getting the most out it over time: •...
  • Page 143 KORTEX™ Web App. ® • Updating firmware - Kinova will periodically release updates to robot and robot device firmware to fix known bugs and expand the capabilities of the robot. For best results, it is recommended to regularly update firmware using the Web App.

  • Page 144: Troubleshooting

    If all else fails, try rebooting the robot. If you're still experiencing issues, contact Kinova support via the website. Base controller LEDs This section describes the meanings of the LED indicators on the robot base controller.

  • Page 145: How To Respond To Safety Warnings And Errors

    KINOVA Gen3 Ultra lightweight robot User Guide ® Figure 72: Base controller LEDs Base controller LED details Table 48: LED interpretation Power LED Status LED Description color status color status system not powered blue blinking system booting blue solid amber...
  • Page 146 KINOVA Gen3 Ultra lightweight robot User Guide ® Safeties handling details Table 49: Base safeties handling Safety Most Probable Cause • Firmware issue Incompatible Firmware version • Firmware issue Firmware Update Failure • Communication issue • CPU heat sink issue Maximum Ambient Temperature •...

  • Page 147: Contacting Kinova Support

    For support and advice on hardware related issues, please don't hesitate to contact us through the support form on our website: www.kinovarobotics.com/support. For development guidance and software-related questions, check out the KINOVA ® KORTEX™ and KINOVA KORTEX™ ROS GitHub repositories at: ®...
  • Page 148 There is no need too small. No task too great. kinovarobotics.com Kinova inc. (Headquarters) 4333, Boulevard de la Grande-Allée Boisbriand (QC) J7H 1M7 Canada +1 (514) 277-3777 Kinova Europe GmbH Friedrich-Ebert-Allee 13 53113 Bonn, Deutschland +49 (0) 228-9293-9148 Kinova Asia 4th Floor, Building 5, Zizhu Cyberport No.

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