Kinova JACO User Manual
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Kinova JACO User Manual

Prosthetic robotic arm
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KINOVA JACO
Prosthetic robotic arm
™
User Guide

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Summary of Contents for Kinova JACO

  • Page 1 KINOVA JACO Prosthetic robotic arm ™ User Guide...

  • Page 2: Table Of Contents

    Joystick movements and modes........................15 Kinova Joystick LED feedback......................... 16 Kinova joystick Blue LEDs feedback......................17 Kinova joystick Green LEDs feedback......................18 Kinova joystick Red LEDs feedback....................... 19 Operating principles and Cartesian mode....................20 Home / Retracted positions..........................21 Operating the arm via joystick........................22...
  • Page 3 Default joystick motion settings - Cartesian three-axis mode............25 Default joystick motion settings - Cartesian two-axis mode.............. 26 Normal use definition............................27 Electromagnetic interference from radio wave sources..............28 Maintenance and Disposal..........................29 Packing Materials..............................30 Contacting support...............................31 3-axis mode joystick controls reminder..................... 32 2-axis mode joystick controls reminder.....................

  • Page 4: About This Document

    Read all warnings on the product and in this guide. Follow all instructions. This document contains information regarding product setup and the operation. It is intended for: • Field service, customer support and sales employees of authorized Kinova distributors • Kinova product end users...

  • Page 5: Symbols, Definitions, And Acronyms

    KINOVA JACO™ Prosthetic robotic arm user guide Symbols, definitions, and acronyms Important information regarding the safety related to the product and the user. Tip on the maintenance, operation and manipulation of Kinova’s products. Refer to accompanying documents. Direct current. Alternating current.

  • Page 6: 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 7: Warnings

    KINOVA JACO™ Prosthetic robotic arm user guide Warnings This section summaries important warnings and cautions related to use of the robotic arm. It is not recommended to use the arm under heavy rain or snow. Never use the HOME/RETRACTED function when carrying liquid. The HOME position is preset and the wrist may rotate and drop the liquid.

  • Page 8: Disclaimer

    KINOVA JACO™ Prosthetic robotic arm user guide Disclaimer KINOVA™ and Kinova’s logo are trademarks of Kinova Inc., herein referred to as Kinova. All other brand and product names are trademarks or registered trademarks of their respective corporations. The mention of any product does not constitute an endorsement by Kinova. This manual is furnished under a lease agreement and may only be copied or used within accordance with the terms of such lease agreement.

  • Page 9: General Information

    KINOVA JACO™ Prosthetic robotic arm user guide General Information The KINOVA JACO™ Prosthetic robotic arm is a light-weight robot composed of six inter-linked segments. Through the controller or through a computer, the user can move the robot in three- dimensional space and grasp or release objects with the gripper (if a gripper is installed).

  • Page 10: Dof Curved Wrist Components

    KINOVA JACO™ Prosthetic robotic arm user guide 6 DOF Curved Wrist Components This section shows the components of the 6 DOF curved wrist robotic arm.

  • Page 11: External Connectors

    The joystick / controls port is used to plug in controls for the arm. The USB port is used to connect to a computer. The control Port and Power Connector are intended to be connected only with a Kinova approved device. Connecting other devices may result in bad performance or even make your arm inoperable and void your warranty.

  • Page 12: Jaco Specifications

    KINOVA JACO™ Prosthetic robotic arm user guide JACO specifications This section describes the specifications of the JACO robotic arm. Table 1: Total weight 5.2 kg Reach 90 cm Maximum payload • 1.6 kg (mid-range continuous) • 1.3 kg (full-reach peak / temporary)

  • Page 13: Markings And Labels

    KINOVA JACO™ Prosthetic robotic arm user guide Markings and Labels This section describes markings / labels on the robotic arm. Please note that these labels may slightly differ from the ones accompanying your device depending of your country. The following figure depicts the information about the label affixed...

  • Page 14: Kinova Joystick Controller

    KINOVA JACO™ Prosthetic robotic arm user guide Kinova joystick controller The Kinova standard controller is a three-axis joystick mounted on a support. The controller iincludes five independent push buttons and four external auxiliary inputs (on the back side).

  • Page 15: Joystick Movements And Modes

    KINOVA JACO™ Prosthetic robotic arm user guide Joystick movements and modes The Kinova joystick allows to control the arm in a “2-axis” or “3-axis” mode. The “2-axis” mode will disable the joystick twist rotation. The following table shows the button default factory settings for using the joystick in a 2-axis and 3-axis modes.

  • Page 16: Kinova Joystick Led Feedback

    KINOVA JACO™ Prosthetic robotic arm user guide Kinova Joystick LED feedback The Kinova joystick offers visual feedback: • Blue lights : Feedback on control mode • Green lights : Feedback on arm power • Red lights : Feedback on error...

  • Page 17: Kinova Joystick Blue Leds Feedback

    KINOVA JACO™ Prosthetic robotic arm user guide Kinova joystick Blue LEDs feedback This section describes the blue LED feedback on the Kinova controller. The blue LEDs on the controller give feedback on the current control mode. The interpretation of the blue mode LED indicators is described in the following table.

  • Page 18: Kinova Joystick Green Leds Feedback

    KINOVA JACO™ Prosthetic robotic arm user guide Kinova joystick Green LEDs feedback This section describes the green LED feedback on the Kinova controller. The green lights offer visual feedback on the power status of the arm. Table 4: Power status feedback...

  • Page 19: Kinova Joystick Red Leds Feedback

    KINOVA JACO™ Prosthetic robotic arm user guide Kinova joystick Red LEDs feedback This section describes the red LED feedback on the Kinova controller. The red lights offer visual feedback on possible errors that may occur while operating the arm: Table 5: Error status feedback...

  • Page 20: Operating Principles And Cartesian Mode

    Wrist rotation refers to a circular movement of the gripper around itself. The “Drinking mode” is to be used with the wrist rotation only. While operating the Jaco² arm in “Drinking mode”, the reference point (normally set in the middle of the gripper), is offset in height and length to produce a rotation around another point in the space of the arm.

  • Page 21: Home / Retracted Positions

    KINOVA JACO™ Prosthetic robotic arm user guide Home / Retracted positions This section describes the Home and Retracted positions of the robotic arm. The arm comes with two factory default pre-set positions that may be configured in the Kinova Development Center: • Home position and •...

  • Page 22: Operating The Arm Via Joystick

    KINOVA JACO™ Prosthetic robotic arm user guide Operating the arm via joystick This section describes operation of the arm using the joystick. This section explains how to operate the arm with factory configuration. Contact your reseller for operation instructions in the case of an adapted configuration.

  • Page 23: Joystick Control Quick Start

    KINOVA JACO™ Prosthetic robotic arm user guide Joystick control quick start This section describes how to get started using the Kinova joystick to control the arm in the default configuration. About this task Procedure Turn ON the device by pushing the ON/OFF switch located on the arm base.
  • Page 24 KINOVA JACO™ Prosthetic robotic arm user guide Note: Another press of Button 2 will bring you back in Lateral orientation and Vertical orientation control mode.

  • Page 25: Default Joystick Motion Settings - Cartesian Three-Axis Mode

    KINOVA JACO™ Prosthetic robotic arm user guide Default joystick motion settings - Cartesian three-axis mode This section describes default motion settings in Cartesian three-axis mode. Table 6: Joystick movement Arm movement Availability Translation Mode Incline FRONT Gripper moves forward 4 / 6 / 6 -S / 7 DOF-S...

  • Page 26: Default Joystick Motion Settings - Cartesian Two-Axis Mode

    KINOVA JACO™ Prosthetic robotic arm user guide Default joystick motion settings - Cartesian two-axis mode This section describes default motion settings in Cartesian two-axis mode. Table 7: Joystick movement JACO arm movement Availability Translation-X and Translation-Y Incline FRONT Gripper moves forward...

  • Page 27: Normal Use Definition

    KINOVA JACO™ Prosthetic robotic arm user guide Normal use definition This section describes the normal use of the robotic arm. The definition of a normal use of the robotic arm includes that you can lift, push, pull or manipulate a maximum load of: •...

  • Page 28: Electromagnetic Interference From Radio Wave Sources

    KINOVA JACO™ Prosthetic robotic arm user guide Electromagnetic interference from radio wave sources This section describes electromagnetic interference considerations for the JACO robotic arm. Even if the product complies with all relevant standards, your arm may still be susceptible to...

  • Page 29: Maintenance And Disposal

    The product contains parts that are deemed to be hazardous waste at the end of their life. For further information on recycling, contact your local recycling authority or local Kinova distributor. In any way, always dispose of product through a recognized agent.

  • Page 30: Packing Materials

    Metal parts can be disposed as recyclable scrap metal. Electrical parts, circuit boards, and carbon fiber Please contact your local distributor to have information regarding disposal of such parts. You can also address questions directly to Kinova through our website (see Contacting Support).

  • Page 31: Contacting Support

    Contacting support If you need help or have any questions about this product, this guide or the information detailed in it, please contact a Kinova representative at support@kinovarobotics.com. We value your comments! To help us assist you more effectively with problem reports, the following information will be required when contacting Kinova or your distributor support: •...

  • Page 32: 3-Axis Mode Joystick Controls Reminder

    KINOVA JACO™ Prosthetic robotic arm user guide 3-axis mode joystick controls reminder This section is a visual reminder of the joystick controls in 3-axis mode.

  • Page 33: 2-Axis Mode Joystick Controls Reminder

    KINOVA JACO™ Prosthetic robotic arm user guide 2-axis mode joystick controls reminder This section is a visual reminder of the joystick controls in 2-axis mode.
  • Page 34 Kinova Inc. Kinova Europe GmbH (Headquarters) 4333 Boul. de la Grande Allée Friedrich-Ebert-Allee 13 Boisbriand, Qc, Canada 53113 Bonn, Deutschland J7H 1 M7 +1 (514) 277 – 3677 +49 (0) 228-9293-9148 www.kinovarobotics.com www.kinovarobotics.de info@kinovarobotics.com support@kinovarobotics.de...

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