Page 1 Kinova® Gen3 lite robot User guide...
Page 2: Table Of Contents
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..........................
Page 3 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...
Page 4 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....................
Page 5 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...
Page 6: Introduction
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)).
Page 7: Risk Assessment
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.
Page 8 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.
Page 9: 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...
Page 10: Disclaimer
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.
Page 11: Acronyms And Abbreviations
KINOVA® Gen3 lite robot User guide 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 incurring any obligations to you). Acronyms and abbreviations...
Page 12 KINOVA® Gen3 lite robot User guide Light-Emitting Diode NVRAM Non-Volatile Random-Access Memory Personal Computer Robot Operating System Remote Procedure Call Revolutions Per Minute Recommended Standard SSID Service Set IDentiﬁer Transmission Control Protocol UART Universal Asynchronous Receiver-Transmitter User Datagram Protocol Underwriters Laboratory...
Page 13: Robot Components
KINOVA® Gen3 lite robot User guide Robot components Overview This section describes the main components of the KINOVA® Gen3 lite robot. The robot consists of: • base with controller • actuators • robot structure and skin • wrist and gripper The following image shows the main components of the robot.
Page 14: Base Connector Panel
KINOVA® Gen3 lite robot User guide • Wi-Fi / Bluetooth adapter (Only Wi-Fi is enabled at present) • Ethernet switch and Ethernet interface • USB interface • piezoelectric buzzer for audio warnings and alarms • accelerometer/gyroscope A Linux web server runs on the controller and manages connectivity between the controller and the arm devices, and between the controller and an external computer.
Page 15: Base Led Indications
KINOVA® Gen3 lite robot User guide Name Description Ground Ground EXP_GPI1_STOP Expansion GPI 1 or E-Stop JOY_DOWN_DRI Joystick down input JOY_LEFT_REF Joystick left input 24 V output (500mA) 24 V output at 500 mA Ground EXP_GPI2 Expansion GPI 2 JOY_RIGHT...
Page 16: Base Mounting Accessories
KINOVA® Gen3 lite robot User guide Table 5: LEDs interpretation Color Meaning Blue The robot is booting Green The robot is ready to be used and there are no alarms and no faults Amber The robot is in an alarm condition...
Page 17 KINOVA® Gen3 lite robot User guide Figure 4: Quick connect - table screw mounting (left) and table clamp (right) mounting A mounting plate attaches ﬁrmly to the mounting surface, either semi-permanently with screws or temporarily using a table mounting clamp. A quick connect base attached to the mounting plate provides an easily detachable docking point for the robot.
Page 18: Mounting Plate
KINOVA® Gen3 lite robot User guide Figure 5: Quick connect (closeup) To remove the robot from the quick connect base, ﬂip open the quick connect clamp, detach any connected cables, and slide the robot out of the quick connect base.
Page 19 KINOVA® Gen3 lite robot User guide • 24 mounting holes to attach quick connect base (3 holes x 8 different possible orientations) • 4 mounting holes to mount robot base without quick connect • 2 M8 threaded mounting holes to attach table mounting clamp...
Page 20: Actuators
KINOVA® Gen3 lite robot User guide Actuators The robot contains actuators which power the rotational movement at the robot joints. The robot contains three sizes of actuators with distinct performance capabilities. The actuators contain sensors. The rotational motion at each of the joints of the robot is powered by rotary actuators. There is one actuator for each joint.
Page 21: Robot Communications And Network Interfaces
KINOVA® Gen3 lite robot User guide Figure 8: Wrist and gripper The robot has a three-axis wrist with the range of motion enabled by actuators four through six. The robot incorporates a two ﬁnger gripper. The ﬁnger body is composed of two different materials.
Page 22 KINOVA® Gen3 lite robot User guide The devices in the robot, from the base of the arm through the chain of actuators, to the interface module at the end of the arm, are daisy chained together using internal cables which carry power and communications.
Page 23: Getting Started
KORTEX™ Web App A quick start guide which covers much of the same material in a simpliﬁed visual format is provided in a printed form in the box. A downloadable digital version is also made available on the Kinova website in the Technical Resources (https://www.kinovarobotics.com/en/resources/gen3-lite-...
Page 24 KINOVA® Gen3 lite robot User guide Figure 10: Shipping case contents (top layer) Lifting out the top layer reveals the bottom layer containing the robot and associated accessories. Figure 11: Shipping case contents (bottom layer) The contents of the bottom layer of the box are as follows: •...
Page 25: Manipulating The Robot Joints When The Robot Is Powered O
KINOVA® Gen3 lite robot User guide The following optional items, when included, are shipped with the robot, but packaged separately: • Xbox gamepad and cable • power cable E-stop • Expansion I/O and E-stop cable • USB-A to Ethernet adapter (to facilitate connecting robot to computer Ethernet port or local area network) Note: The shipping case is also useful for transportation and storage of the robot.
Page 26: Securing The Mounting Plate On A Table With The Table Mounting Clamp
KINOVA® Gen3 lite robot User guide Figure 12: Robot mounting options Securing the mounting plate on a table with the table mounting clamp This section describes how to secure the mounting plate on a table using the table mounting clamp.
Page 27: Attaching The Mounting Plate To A Surface With Screws
KINOVA® Gen3 lite robot User guide 2. Align the two holes on the table mounting clamp with the two corresponding holes on the bottom of the mounting plate. 3. Attach the table clamp to the mounting plate with screws. 4. Turn the tightening knob on the table clamp to open up the clamp and then slide the clamp, with the mounting plate attached, over the edge of the table.
Page 28: Mounting Plate Bolting Pattern
KINOVA® Gen3 lite robot User guide Before you begin You will need four M8 socket head cap screws (SHCS) for attaching the mounting plate. You should determine in advance whether you want to mount the robot in a ﬁxed way onto the mounting...
Page 29: Installing The Robot On The Quick Connect Base
KINOVA® Gen3 lite robot User guide Mounting details Figure 13: Mounting plate bolting pattern Installing the robot on the quick connect base. This section describes how to install the robot on the quick connect base. Before you begin Install the quick connect system.
Page 30: Installing The Quick Connect System
KINOVA® Gen3 lite robot User guide 2. Lower the base of the robot so that the mounting knob goes into the opening on the quick connect base. 3. Once the robot is fully lowered onto the quick connect base, close the quick connect clamp to secure the robot in place.
Page 31 KINOVA® Gen3 lite robot User guide Procedure 1. The mounting plate has 24 same-sized mounting holes that allow the quick connect base to be attached in eight different orientations. The quick connect base has three corresponding-sized mounting holes. Align the quick connect base on the mounting plate so that holes line up.
Page 32: Attaching The Robot Base To The Mounting Plate
KINOVA® Gen3 lite robot User guide center of the mounting knob. If the mounting knob was still already attached, there is nothing more to do. Results Attaching the robot base to the mounting plate This section describes how to attach the robot base to the mounting plate.
Page 33: Mounting The Robot Directly Onto A Surface
KINOVA® Gen3 lite robot User guide About this task The mounting plate has four M6 mounting holes on the top in a square pattern matching the bolting pattern on the bottom of the robot base. This can be used to mount the robot base onto the mounting plate.
Page 34 KINOVA® Gen3 lite robot User guide Before you begin You will need four M6 screws to afﬁx the robot to the surface. If the robot has the mounting knob attached for use with a quick connect system, the mounting knob needs to be removed ﬁrst.
Page 35: Base Underside Bolting Pattern
KINOVA® Gen3 lite robot User guide Results What to do next You can now proceed to connect the robot to the power supply. Base underside bolting pattern This section describes the bolting pattern on the underside of the base. This is useful when you want to afﬁx the robot base directly to a surface.
Page 36: Robot Power Adapter
KINOVA® Gen3 lite robot User guide Mounting details Figure 14: Base and mounting holes Robot power adapter The robot comes with a power adapter and cable to supply the robot with power from a wall outlet. The robot is powered by a 24V power supply (Delta 150AAS24B).
Page 37: Powering On The Robot
KINOVA® Gen3 lite robot User guide Behavior of the robot after cut to power supply After the power supply to the robot or actuators is cut, the robot will fall, gracefully, under its own weight. Powering on the robot This section describes how to connect the robot to an electrical power source.
Page 38: Operating The Robot
This section describes the supported control devices for the robot. There are three ways to operate the robot: • physical gamepad (Xbox controller) • virtual joysticks over a network connection (KINOVA ® KORTEX™ Web App virtual joysticks) • programmatically (KINOVA ®...
Page 39 KINOVA® Gen3 lite robot User guide 2. Twist angular (controls the robot end effector rotations by velocity) 3. Joint (controls the robot joint by joint by velocity) General controls Some controls apply the same across all maps. These are controls for: •...
Page 40 KINOVA® Gen3 lite robot User guide Figure 15: General control map elements with Xbox gamepad Twist linear map Twist linear is the default gamepad map when the robot is turned on and the controller is connected. In this mode the tool is translated in space with respect to the conﬁgured Cartesian translation frame (by default the base frame).
Page 41 KINOVA® Gen3 lite robot User guide Table 9: Twist linear - general controls plus Action Control Cartesian X translation down Left stick Cartesian Y translation left right Cartesian Z translation down Right stick Speed decrease down D-pad increase Figure 16: Twist linear controls with Xbox gamepad...
Page 42 KINOVA® Gen3 lite 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).
Page 43 KINOVA® Gen3 lite robot User guide Table 10: Twist angular - general controls plus: Action Control left Cartesian Y rotation right L stick down Cartesian X rotation left Cartesian Z rotation R stick right Speed decrease down D-pad increase Figure 17: Twist angular controls with Xbox gamepad Joint map The joint map allows actuators to be chosen and moved one by one.
Page 44: Home And Retract Positions
KINOVA® Gen3 lite robot User guide Action Control Previous left Navigate joints Next right Figure 18: Joint controls with Xbox gamepad Home and retract positions Pre-conﬁgured Xbox gamepad maps set aside two buttons to move the robot to the home and retract positions of the robot.
Page 45: Connecting A Computer To The Robot
KINOVA® Gen3 lite robot User guide Connecting a computer to the robot Establishing a communication link between the robot and a computer via USB (RNDIS) Describes steps to connect the robot to a computer via USB. Before you begin You will need a micro-B USB to USB type-A cable (provided with the robot). The robot needs to have been turned on.
Page 46 KINOVA® Gen3 lite robot User guide 4. On your computer, in Windows, open Control Panel > Network and Internet > Network and Sharing Center 5. Select Change adapter settings 6. Select the RNDIS adapter and choose Properties.
Page 47: Connecting To A Computer Using A Usb Type-A To Ethernet Adapter And Ethernet Cable (Optional)
KINOVA® Gen3 lite robot User guide 7. Select Internet Protocol Version 4 (TCP/IPv4) and choose Properties. 8. Select Use the following IP address and enter IPv4 address: 192.168.1.11 and Subnet mask: 255.255.255.0 9. Press OK. Results Your computer is now physically connected to the robot and conﬁgured to communicate with the robot.
Page 48 KINOVA® Gen3 lite robot User guide 2. On your computer, open Control Panel > Network and Internet > Network and Sharing Center 3. Select Change adapter settings 4. Select wired Ethernet adapter (i.e. Local Area Connection) and choose Properties.
Page 49: Kinova® Kortex™ Web App
KINOVA® Gen3 lite robot User guide 5. Select Internet Protocol Version 4 (TCP/IPv4) and choose Properties. 6. Select Use the following IP address and enter IPv4 address: 192.168.2.11 and Subnet mask: 255.255.255.0 7. Press OK. Results Your computer is now connected physically to the robot and conﬁgured ready to communicate with the robot.
Page 50 Devices include desktops, laptops, smartphones, and tablets. The local network type includes local Wi-Fi neworks. ® The Web App is described in detail in the KINOVA KORTEX™ Web App User Guide section. ®...
Page 51: Connecting A Computer To The Robot Via Wi-Fi
KINOVA® Gen3 lite robot User guide Procedure 1. From the computer web browser, enter the appropriate IP address for the arm base to access the Web App. Note: By default, the IP address to use here is: • 192.168.1.10 if connecting point to point with USB cable over RNDIS •...
Page 52 KINOVA® Gen3 lite robot User guide 4. The Wi-Fi tab will list all of the detected Wi-Fi networks. Choose one of the networks, and click the corresponding Connect text button. Note: It is not recommended to connect to Wi-Fi networks which are potentially insecure.
Page 53: Dimensions, Specifications, And Capabilities
KINOVA® Gen3 lite robot User guide Dimensions, speciﬁcations, and capabilities Schematic and dimensions This section provides a schematic diagram of the robot and the key physical dimensions of the robot. Figure 20: Robot dimensions (measurements in mm) The image above shows the dimensions of the robot.
Page 54: Technical Specifications
Joint 5-6 offset 28.5 Technical Speciﬁcations ® This section provides the technical speciﬁcations for the KINOVA Gen3 lite robot, categorized for ease of reference. Some of these also appear within the main body of the text. Table 13: Safety / Security...
Page 55 KINOVA® Gen3 lite robot User guide Table 15: Controller (base) Feature Detail LED indicator blue/green/amber/red LED For charging small devices such as USB type-A receptacle phones, connecting gamepad wired, connecting USB-A to Ethernet adapter micro-B USB receptacle Ethernet over USB (RNDIS) ®...
Page 56: Sensors
KINOVA® Gen3 lite robot User guide Table 17: Actuators Feature Value(s) Position, current (motor), voltage, Sensors temperature (motor and CPU) Table 18: Wrist and gripper Feature Function Gripper 2 ﬁnger gripper actuated by one linear actuator accelerometer and gyroscope, voltage...
Page 57: Base Readings Available
KINOVA® Gen3 lite robot User guide • 24 V monitor Wrist and gripper sensors • capacitive sensors (qty. 2) • microcontroller temperature • microcontroller board voltage • 6-axis accelerometer / gyroscope • gripper motor current • gripper motor temperature • gripper motor voltage •...
Page 58: Actuators Readings Available
KINOVA® Gen3 lite robot User guide Field name Description IMU measured angular velocity imu_angular_velocity_x (X-Axis) ω of base in ° / s IMU measured angular velocity imu_angular_velocity_y (Y-Axis) ω of base in ° / s IMU measured angular velocity imu_angular_velocity_z (Z-Axis) ω...
Page 59: Gripper Pose And Twist Readings Available
KINOVA® Gen3 lite robot User guide Field name Description Voltage of the main board in V voltage Microcontroller temperature. (°C) temperature_core Gripper pose and twist readings available Gripper pose and twist sensors readings available via cyclic communications. Table 23: Gripper readings available via API...
Page 60: EEctive Workspace
KINOVA® Gen3 lite robot User guide Field name Description Velocity of the gripper ﬁngers velocity in percentage (0-100%) Current consumed by the gripper motor (mA) current_motor Motor Voltage (V) voltage Motor temperature. (° / s) temperature_motor Eective workspace This section provides information on the effective workspace. The effective workspace is the region in space reachable by the gripper of the robot.
Page 61: Payload Vs. Workspace
KINOVA® Gen3 lite robot User guide Figure 21: 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 62 KINOVA® Gen3 lite robot User guide • a phone If the maximum payload is exceeded, any of the following symptoms may appear: • arm power cut and drop • arm low voltage • actuator following error • actuator fault (motor driver fault)
Page 63: Concepts And Terminology
• adding a delay • sending a gripper command The full set of action types is deﬁned in the Kinova.Api.Base API. Control modes A control mode is one of several modalities of controlling the motion of the robot while it is in run mode.
Page 64 KINOVA® Gen3 lite robot User guide Operating mode Operating modes are the different operational states of the robot. The operating modes for the arm are: • update - in process of update • update completed - update is completed successfully •...
Page 65: Terminology Reference
KINOVA® Gen3 lite robot User guide Topic A set of related robot events to which the user can subscribe and receive notiﬁcations as part of a Publisher-Subscriber (pub-sub) arrangement. There are a number of different topics, including: • user • controller device input •...
Page 66 KINOVA® Gen3 lite robot User guide Cartesian Space The Euclidean space described by x, y and z axes of the Cartesian coordinate system. Center of Mass Unique point of a rigid body where an applied force will generate only linear acceleration (and no...
Page 67: Features, Components And Functionalities
KINOVA® Gen3 lite robot User guide Path (Angular) The set of at least two angular poses, through which the actuator values angles should pass during motion. Path (Cartesian) The set of at least two Cartesian poses, through which the tool of the robot should pass during motion.
Page 68: Control Modes
KINOVA® Gen3 lite robot User guide Joint Section of the manipulator system which allows one rotational degree of freedom. Path Planning Computation of a path to reach a goal pose subject to applicable constraints and criteria. Payload - Maximum The maximum mass that the robot can manipulate at a speciﬁed speed, acceleration/deceleration, center of gravity location (offset), and repeatability in continuous operation over a speciﬁed...
Page 69: Robot Control
In low-level control, the user sends a series of small commands to each actuator and the gripper as part of a user-deﬁned loop, at a rate up to 1 kHz, using the Kinova.Api.BaseCyclic API. The base receives these commands and routes them to the appropriate actuators and the gripper via its own 1 KHz communication loop with robot devices.
Page 70: Singularity Avoidance
KINOVA® Gen3 lite robot User guide Singularity avoidance The singularity avoidance feature of the robot control library handles or avoids singularities in Cartesian control modes. The robot behavior, including tool speed may be altered near a singularity. A singularity refers to any robot conﬁguration (set of joint angles) which causes the Jacobian...
Page 71: Joint Limits
KINOVA® Gen3 lite robot User guide will stop at the outer boundary of the protection zone. The tool will be able to "slide" on the outer surface of the zone but not enter inwards. The tool can move within the surrounding envelope, but at a reduced speed.
Page 72 KINOVA® Gen3 lite robot User guide Actuator Joint limits Lower limit Upper limit - 144.97° + 145.0° - 148.98° + 148.98° Table 26: Joint speed limits Actuator Limit (magnitude) joints 1-5 57.3 ° / s (1.0 rad / s) joint 6 90.0 °...
Page 73: Cartesian Limits
KINOVA® Gen3 lite robot User guide Limit Behavior when limit is reached joint position joint acceleratation and joint speed goes to zero and motion of the joint will stop at the position limit Cartesian limits The robot has limits on tool motion applying in high-level Cartesian control. These limits apply on top of underlying joint limits.
Page 74 KINOVA® Gen3 lite robot User guide Method Description Moves to the specifed orientation (with speciﬁed PlayCartesianTrajectoryOrientation Cartesian constraint on trajectory) (ConstrainedOrientation) Note: This method will be deprecated in a future software version. Moves to the speciﬁed joint angles (with speciﬁed...
Page 75: High-Level Control Modes Description
KINOVA® Gen3 lite robot User guide Low-level (Kinova.Api.BaseCyclic) Table 33: Low-level cyclic commands Method Description Send a new incremental refresh command to Refresh (Command) the actuators and gripper for the current 1 ms interval. Command actuators position, angular velocity, and motor current, as well as gripper ﬁnger motors.
Page 76 KINOVA® Gen3 lite robot User guide velocities, and accelerations at each timestamp. The robot control software will verify that the trajectory is valid and reasonable, satisfying conﬁgured limits. Users can indicate a desired continuity mode for the trajectory against which the trajectory can be checked (position, or position and velocity, or position, velocity and acceleration).
Page 77: Joystick Control Modes
Low-level control detailed description Overview of low-level control options. Overview Low-level control of the robot is carried out through the Kinova.Api.BaseCyclic API. To use the BaseCyclic API, a real-time session is conﬁgured by the user on the robot to enable high-frequency real-time communications.
Page 78 Cautions Low-level control in general is intended for advanced users only. Note: Low-level control bypasses completely the Kinova control library and all its soft limits and protections. Although the Kinova APIs, including the low-level BaseCyclic API are supported in both C++ and Python, note that Kinova strongly recommends low-level control applications be done in C++ for best results.
Page 79: Configurations And Safeties
There are a number of parameters of the robot that are conﬁgurable to customize the operation of the robot. These can be conﬁgured using the API and Web App. ® These parameters can be conﬁgured using the appropriate KINOVA™ KORTEX APIs. For more details on how to perform conﬁguration using the APIs, see the API documentation..
Page 80: Actuators Configuration
KINOVA® Gen3 lite robot User guide Conﬁgurable item Description Where to conﬁgure it Kinova.Api.Base API Sequence Create, read, update, delete a sequence of actions Web App > Operations > Actions Set IPv4 conﬁgured (for speciﬁed network adapter): Kinova.Api.Base API • IP address IPv4 Web App >...
Page 81: Device Configuration
KINOVA® Gen3 lite robot User guide Conﬁgurable item Description Where to conﬁgure it Conﬁgure an individual control loop parameter: • joint or motor position • joint or motor velocity • joint torque • motor current Control loop Kinova.Api.ActuatorConfig Conﬁgure: parameters •...
Page 82: Safety Items
KINOVA® Gen3 lite robot User guide Conﬁgurable item Description Where to conﬁgure it (For devices other than base) Set device IPv4 IPv4 settings Kinova.Api.DeviceConfig API address, subnet mask, default gateway Enable / disable, set warning and/or error Safeties Kinova.Api.DeviceConfig API threshholds for speciﬁc safeties...
Page 83: Actuators Safeties
KINOVA® Gen3 lite robot User guide warning Safety Item Description Threshold error Network Arm is detected but arm internal Initialization Error connectivity not available The number of detected joints does not Joint Detection Error match the conﬁgured arm joint count...
Page 84 KINOVA® Gen3 lite robot User guide lower warning Safety Item Description Hard limit Threshold upper error Compares the current 0.0° 4.0° absolute position (as seen from Hall sensors) versus the current absolute position (as seen from Hall magnetic mismatch the magnetic sensor).
Page 85 KINOVA® Gen3 lite robot User guide Table 40: Small actuator specific safeties lower warning Hard Safety item Description Threshold limit upper error Checks if the actuator is -154° -150° Joint Limit Low within the deﬁned lower 0° -152° position limit.
Page 86: Gripper Safeties
KINOVA® Gen3 lite robot User guide Gripper safeties The following gripper-related safety items are active on the robot and are viewable in the Web App. Table 43: Gripper Safety items lower warning Safety Item Description Hard limit Threshold upper error Compares the position 0°...
Page 87 KINOVA® Gen3 lite robot User guide lower warning Safety Item Description Hard limit Threshold upper error Checks the entry voltage. 24.0 V 28.0 V Makes sure it is below the deﬁned upper limit. Maximum Voltage Note: The maximum 36.0 V 32.0 V...
Page 88: Kinova® Kortex™ Web App User Guide
KINOVA® Gen3 lite robot User guide KINOVA® KORTEX™ Web App User Guide Introduction Overview of the Web App section of the user guide. ® The following sections describe the KINOVA KORTEX™ Web App. The Web App is used for controlling, conﬁguring and monitoring the robot.
Page 89 KINOVA® Gen3 lite robot User guide Figure 23: Tablet...
Page 90: Platform And Browser Support
KINOVA® Gen3 lite robot User guide Figure 24: 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. Operating system support • Microsoft Windows 7/8/10 •...
Page 91: User Login
KINOVA® Gen3 lite robot User guide User login Given the robot base IP address and a computer connected to the robot, users can log in to the Web App with username and password via a Web browser. After establishing a network connection between your device and the robot, open a web browser and enter the IP address for the robot base external interface.
Page 92: Web App Layout And Navigation
KINOVA® Gen3 lite robot User guide Figure 26: Initializing... Web App layout and navigation This section describes the basic layout and navigation of the Web App. The Web App screen is divided into several main sections: • Main navigation panel •...
Page 93 KINOVA® Gen3 lite robot User guide In the middle of the screen is the main information panel containing the contents of each page of the application. The page can be changed from a pages menu on the left of the screen. This menu is hidden by default, but can be lauched by clicking / tapping the menu icon in the upper left.
Page 94 KINOVA® Gen3 lite robot User guide • Operations º Actions º Protection Zones • Systems º System Information º Monitoring º Upgrade • Users In the upper right hand corner of the screen are four indicators / controls: • Notiﬁcations indicator - number of most important notiﬁcations. Clicking allows notiﬁcations to be read.
Page 95: Robot Control Panel
KINOVA® Gen3 lite robot User guide Clicking on any of these items displays a pop-up showing further information. Robot control panel The control panel is on the bottom of the screen, and consists of a group of four buttons. Two are to launch pop-up windows for virtual joystick controls: •...
Page 96 KINOVA® Gen3 lite robot User guide Figure 28: Pose joystick panel The Pose virtual joystick panel is launched by clicking the ﬁrst button ( ) on the robot control panel. Translation / rotation joystick controls The Pose virtual joystick controls allow you to control the linear and angular motion of the tool.
Page 97: Angular Virtual Joystick Control
KINOVA® Gen3 lite robot User guide • reference frame selection • gripper speed control • speed limit Speed control The actuators speed and ﬁnger speed can be adjusted between 0 and 100% of the hard limits for the robot. Reference frames The position of the end effector can be speciﬁed in one of three reference frame conventions:...
Page 98: Virtual Joystick Keyboard Shortcuts
KINOVA® Gen3 lite robot User guide The angular joystick panel is launched by clicking the second button on the robot control panel. The virtual joystick controls allow you to control the angle of each actuator as well as the opening and closing of the ﬁngers (if a gripper is installed).
Page 99 KINOVA® Gen3 lite robot User guide Control Shortcut Z translation Table 45: Pose orientation joystick shortcuts Control Shortcut key X rotation Y rotation Z rotation Table 46: Gripper controls Control Shortcut key open gripper ﬁngers Gripper ﬁngers close gripper ﬁngers...
Page 100: Actions Panel
KINOVA® Gen3 lite robot User guide Put another way, the angles for joints 1-7 can be increased using the keys 1-7 on the top row of the keyboard. The angles can be decreased using the letter keys QWERTYU on the second row of the keyboard.
Page 101 KINOVA® Gen3 lite robot User guide Figure 30: Configurations page group The Conﬁgurations page group contains pages allowing users to perform preliminary set up and conﬁguration for robot hardware. This includes the following pages: • Robot • Controllers • Wireless & Networks Robot conﬁgurations...
Page 102 KINOVA® Gen3 lite robot User guide Figure 31: Robot configurations page The conﬁgurable items are broken into sections by devices: • Arm Some conﬁgurable parameters of the robot can be conﬁgured on this page. Some other conﬁgurable items are handled on their own pages: •...
Page 103 KINOVA® Gen3 lite robot User guide A mapping is a correspondence between the different controls on the controller and the resulting action produced in the robot. The main information panel of the Controllers page has cards with control mapping information for each controller.
Page 104: Safeties
KINOVA® Gen3 lite robot User guide Figure 34: Wireless & Networks page The page has tabs for each currently available connection method. The RNDIS / Micro USB Settings tab allows enabling and disabling DHCP server. 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 105: Operations Page Group
KINOVA® Gen3 lite robot User guide • Warning - A warning serves to signal that the robot is moving away from normal operational status toward an error state. A warning will not stop the robot. Note: Some safety items do not have warning thresholds, only error thresholds.
Page 106 KINOVA® Gen3 lite robot User guide Actions The Actions page of the Web App allows the user to deﬁne and edit robot actions of various types. It also allows users to play back actions and assemble them together into sequences of action.
Page 107 KINOVA® Gen3 lite robot User guide Figure 38: '+' menu If the screen gets crowded after a while, you have the option to ﬁlter to show only the chosen types of actions. Figure 39: Action filter...
Page 108 KINOVA® Gen3 lite robot User guide 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. The large cards carry full information about the action.
Page 109 KINOVA® Gen3 lite robot User guide Figure 41: 'More' pop-up menu Chosing Edit brings up an interface to modify the parameters of the action. Figure 42: 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 positions, or gripper state.
Page 110 KINOVA® Gen3 lite robot User guide Choosing More > Edit for a sequence on the Actions page brings up a sequence editor panel. Figure 43: Sequence editor The sequence editor is made up of three sections: • sequence timeline • actions library •...
Page 111 KINOVA® Gen3 lite 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 112 KINOVA® Gen3 lite robot User guide Figure 44: Actions playback bar When the play button is pressed, the robot will move directly to execute the described action or sequence. 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.
Page 113 KINOVA® Gen3 lite robot User guide Figure 45: Protection Zones page The Protection Zones page allows for deﬁning multiple protection zones. The deﬁned protection zones are displayed as cards in the main information panel. The cards can be displayed in two different sizes: •...
Page 114 KINOVA® Gen3 lite robot User guide Figure 47: 'More' menu Multiple protection zones can be active at the same time. A new protection can be added by clicking the + sign icon in the lower right of the main information panel.
Page 115: Systems Page Group
KINOVA® Gen3 lite robot User guide • Cylinder The dimensions of the zone (in cm) are conﬁgurable: • For a Prism shape, this means height, width, and depth • For a cylinder, this means the height and radius • For a sphere, it means the radius In addition, a thickness (in cm) can be deﬁned around the outside of the protection zone where...
Page 116 KINOVA® Gen3 lite robot User guide Figure 50: Systems page group The Systems page group contains pages for robot devices information, monitoring, and software / ﬁrmware upgrades. It contains the following pages: • System Information • Monitoring • Upgrade System Information The System Information page of the Web App provides high-level hardware and ﬁrmware details for...
Page 117 KINOVA® Gen3 lite robot User guide Figure 51: System Information page The information on the page is displayed within different tabs: • Arm (product and base) • Actuators (for each of the individual actuators in robot) • Gripper For the base, actuators, gripper, information is given on: •...
Page 118 KINOVA® Gen3 lite robot User guide Figure 52: Monitoring page The monitoring information is divided into sections: • Base • Actuators • End effector There are two tabbed views available, selectable through three tabs at the top of the screen: •...
Page 119 KINOVA® Gen3 lite robot User guide • Base º operating mode (maintenance, update, shutting down, run, in fault) º control mode (angular joystick, Cartesian joystick, torque control) º servoing mode (single level (high level), low level, bypass) º arm voltage (V) º...
Page 120: Users
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 KINOVA® Gen3 lite robot User guide The Users page is used to deﬁne, set, and edit user proﬁles for the robot. Figure 54: Users page Deﬁned proﬁles are displayed as information cards on the main information panel of the page. The cards are in three different sizes: •...
Page 122 KINOVA® Gen3 lite robot User guide Figure 56: Create new user Creating a new user proﬁle This section describes how to create a new user proﬁle in the Web App. Procedure On the Users page, press the button to add a new empty user proﬁle. This will bring up a window to enter information for the proﬁle.
Page 123: Kinova® Kortex™ Developer Guide
® (simpliﬁed API supporting a subset of Kortex functionality) Kinova also offers ROS packages covering most of the same functionalities. The pages that follow describe the general philosophy and approach of the APIs. The following GitHub respositories contain additional developer guidance and resources, including detailed API documentation, setup instructions, and source code examples: •...
Page 124: Available Services
Available services This section lists the available robot services for the robot. 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 125: Services, Methods, And Messages
Using Protocol Buffer, the API is made available in C++ and Python languages. ® Developers accustomed to Protocol Buffer can see .proto ﬁles on the KINOVA KORTEX™ GitHub repository. These ﬁles are published as a means to document the services and methods offered via the API.
Page 126: Blocking And Non-Blocking Calls
There are two types of non-blocking calls available in the C++ API: • Future / Promise • Registered callback functions ® For more information on how this works, see the API documentation on the KINOVA KORTEX™ GitHub respository. Device routing and transport This section describes the concept of device routing and low-level transport.
Page 127: Robot Servoing Modes
KINOVA® Gen3 lite robot User guide The API allows you to communicate with the robot devices. Using a device identiﬁer the RPCs and pub/sub methods of the API are routed by the robot base and directly bridged to the intended device.
Page 128: Low-Level Servoing
KINOVA® Gen3 lite robot User guide Figure 59: High-level servoing 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).
Page 129: Notifications
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 130: Kinova ® Kortex™ Ros Packages And Github Repository Overview
The ROS Messages correspond to the message type deﬁnitions of the underlying API. The ROS interface can be accessed using either Python (rospy) or C++ (roscpp). Support is included for Gazebo and MoveIt. Detailed documentation of the packages is available on the Kinova ros_kortex GitHub repository at github.com/kinovarobotics/ros_kortex The repository includes various packages related to ROS development: •...
Page 131: Guidance For Advanced Users
KINOVA® Gen3 lite robot User guide Guidance for advanced users Overview The advanced guidance section gathers together reference information on topics useful to advanced users of the robot. Introduction The following contents are intended for advanced users. Reference frames and transformations Standard robot frames This section describes the standard frames of the robotic arm.
Page 132: Homogeneous Transforms
KINOVA® Gen3 lite robot User guide Homogeneous transforms Homogeneous transforms for the robot are provided. Homogeneous transforms deﬁne transformations between successive reference frames in the robot, allowing coordinates in one frame to be expressed in terms of another. Introduction The forward kinematics of the robot are determined by homogeneous transform matrices. These matrices represent the transformations from one frame (base, joint, or interface) to the next along the kinematic chain.
Page 133 KINOVA® Gen3 lite robot User guide Figure 62: Frame definitions and dimensions (all joints at 0 position, dimensions in mm) Table 49: Transformation matrices Transformation Base to frame 1...
Page 134: Denavit-Hartenberg (Dh) Parameters
KINOVA® Gen3 lite robot User guide Transformation 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 Frame 6 to gripper Note: units are in meters for homogeneous transform translations in the right-hand column of each matrix.
Page 135 KINOVA® Gen3 lite robot User guide Figure 63: Classical DH parameters frame definitions The following table gives the Classical DH parameters for the robot. Table 50: Classical DH parameters ɑ θ π / 2 (128.3 + 115.0) π 280.0 30.0 + π...
Page 136: Singularity Configurations
KINOVA® Gen3 lite robot User guide Singularity conﬁgurations This section describes the singularity conﬁgurations of the robot. Singularity conﬁgurations overview Singularities generally occur when a particular angular conﬁguration of the robot causes axes to be aligned, causing the robot to lose degrees of freedom and experience limitations in movement in some directions while operating the robot in Cartesian mode.
Page 137: Inertial Parameters Definition
KINOVA® Gen3 lite robot User guide Singularity class Deﬁnition Description Joint angles shown: [45, 45, 0, 90, 45, q3 = 0 and q4 = π / 2 There is an alignment between the joint 2 - joint 3 link and the axis of joint 4.
Page 138: Inertial Parameters Of The Robot
KINOVA® Gen3 lite robot User guide Conventions used The following conventions are used: 1. The center of mass of a link is always expressed in terms of the reference frame of the precedent joint. 2. The mass of a link segment includes the shell and portions of the actuators at each end of the link (as applicable) that are enclosed within the link and move rigidly with the link.
Page 139 KINOVA® Gen3 lite robot User guide Table 53: Link 1 Physical quantity Value mass (kg) 0.9597 center of mass [0.000025, 0.022135, 0.099377] coordinates (m) 0.0016595 0.00000002 0.00000036 moments of inertia (kg · m 0.0014036 0.00034927 0.00089493 Table 54: Link 2...
Page 140 KINOVA® Gen3 lite robot User guide Table 56: Link 4 Physical quantity Value mass (kg) 0.52693 center of mass [0.005752, 0.010004, 0.087192] coordinates (m) 0.00069098 0.00000024 0.00016483 moments of inertia (kg · m 0.00078519 0.00000074 0.00034115 Table 57: Link 5...
Page 141: Maintenance And Troubleshooting
Maintenance This sectin 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 142: Troubleshooting
ﬁxes and ensure optimal performance. As part of periodic software updates, Kinova will publish release notes on the Kinova website. These notes describe known issues, limitations, and workarounds, as well as information about new features and previous bugs ﬁxed in the release.
Page 143: How To Respond To Safety Warnings And Errors
KINOVA® Gen3 lite robot User guide If you're still experiencing issues, contact Kinova support via the website. How to respond to safety warnings and errors This section describes how to respond to safety warnings and error states experiened when operating the robot.
Page 144: Contacting Kinova Support
KINOVA® Gen3 lite robot User guide Safety Most Probable Cause • Joint not programmed • Joint in a boot loop Emergency Line Asserted • Electrical component failure • Payload exceeded Inrush Current Limiter Fault • Electrical component failure Table 60: Actuators safeties handling...
Page 145 There is no need too small. No task too great. kinovarobotics.com Kinova inc. (HQ) 4333, boulevard de la Grande-Allée Boisbriand (QC) J7H 1M7 Canada +1 (514) 277-3777 Email: sales@kinova.ca Support: support@kinova.ca Kinova Europe GmbH Innovation Großkitzighofer Straße 7 a 86853 Langerringen...

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