Kinova Gen3 Manuals

Manuals and User Guides for Kinova Gen3. We have 3 Kinova Gen3 manuals available for free PDF download: User Manual, Quick Start Manual

Kinova Gen3 User Manual

Kinova Gen3 User Manual (148 pages)

Ultra lightweight robot

Brand: Kinova | Category: Robotics | Size: 8 MB

Table of Contents

Table of Contents
2
Welcome

6
About this Document

7
Acronyms and Abbreviations

8
Warranty

11
Safety Directives and Warnings

12
Disclaimer

14
Risk Assessment

15
Normal Use Definition

16
Getting Started

17
Robot Components

38
- Base
  38
  - Controller Quick Connect System
    39
  - Controller Connector Panel
    42
- Actuators
  43
- Interface Module
  44
- Vision Module
  46
Dimensions, Specifications, and Capabilities

48
- Schematic and Dimensions - 7 Dof Spherical Wrist
  48
- Technical Specifications
  49
- Sensors
  52
- Effective Workspace
  55
- Payload Vs. Workspace
  56
Interface Module Expansion - Tips for Installing Tools

57
Robot Communications and Network Interfaces

66
Accessing Vision Module Color and Depth Streams

68
Concepts and Terminology

69
- Robot Key Concepts
  69
- Terminology Reference
  71
Control Features

76
- Singularity Avoidance
  76
- Protection Zones
  76
Control Modes Overview

78
- Trajectory Control Modes
  78
- Joystick Control Modes
  78
- Admittance Modes
  79
Configurations and Safeties

80
- Configurable Parameters
  80
  - Base Configuration
    80
  - Actuators Configuration
    81
  - Device Configuration
    82
  - Vision Configuration
    82
- Safety Items
  83
  - Base (Controller) Safeties
    83
  - Actuators Safeties
    83
  - Interface Module Safeties
    87
  - KORTEX™ Web App User Guide
    88
KINOVA KORTEX™ Web App User Guide

88
- Introduction
  88
- Purpose
  88
- Device Availability of Web App
  88
- Platform and Browser Support
  90
- User Login
  90
- Web App Layout and Navigation
  92
- Robot Control Panel
  95
- Main Pages
  100
  - Notifications
    100
  - Camera
    101
  - Configurations
    101
  - Actions
    104
  - Protection Zones
    110
  - Controllers
    113
  - Networks
    114
  - Users
    115
  - System Information
    117
  - Monitoring
    118
  - Upgrade
    120
- Snapshot Tool
  121
KINOVA ® KORTEX™ Developer Guide

122
- Introduction
  122
- Devices and Services
  122
- Available Services
  123
- Users, Connections and Sessions
  124
- Services, Methods, and Messages
  124
- KINOVA ® KORTEX™ API and Google Protocol Buffer
  124
- Service Client-Server Model
  125
- Notifications
  125
- Blocking and Non-Blocking Calls
  125
- Robot Servoing Modes
  126
  - High-Level Servoing
    126
  - Low-Level Servoing
    127
- Device Routing
  128
- Error Management
  128
- KINOVA ® KORTEX™ Github Repository
  128
- KINOVA ® KORTEX™ ROS and KINOVA ® KORTEX™ ROS Github Overview
  129
- Working with Camera Streams Using Gstreamer
  130
  - Windows Command Examples
    130
  - Linux Command Examples
    130
Guidance for Advanced Users

132
Maintenance

142
Troubleshooting

144
- Base Controller Leds
  144
- How to Respond to Safety Warnings and Errors
  145
- Contacting Kinova Support
  147

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Kinova Gen3 User Manual

Kinova Gen3 User Manual (145 pages)

Brand: Kinova | Category: Robotics | Size: 3 MB

Table of Contents

Table of Contents
2
Introduction
6
Welcome
6
About this Document
6
Normal Use Definition
6
Risk Assessment
7
Safety Directives and Warnings
7
Warranty
9
Disclaimer
10
Acronyms and Abbreviations
11
Robot Components
13
Overview
13
Base
13
Base Connector Panel
14
Base Joystick / Expansion Connector Pinout
14
Base LED Indications
15
Base Mounting Accessories
16
Quick Connect System
16
Mounting Plate
18
Actuators
20
Robot Structure and Skin
20
Wrist and Gripper
20
Robot Communications and Network Interfaces
21
Getting Started
23
Overview
23
What's in the Box
23
Manipulating the Robot Joints When the Robot Is Powered O
25
Robot Mounting Options
25
Securing the Mounting Plate on a Table with the Table Mounting Clamp
26
Attaching the Mounting Plate to a Surface with Screws
27
Mounting Plate Bolting Pattern
28
Installing the Robot on the Quick Connect Base
29
Installing the Quick Connect System
30
Attaching the Robot Base to the Mounting Plate
32
Mounting the Robot Directly Onto a Surface
33
Base Underside Bolting Pattern
35
Robot Power Adapter
36
E-Stop (Optional)
36
Powering on the Robot
37
Power-Up, Booting, and Initialization Sequence
37
Operating the Robot
38
Overview of Operating the Robot
38
Supported Control Devices
38
Home and Retract Positions
44
Connecting a Computer to the Robot
45
Establishing a Communication Link between the Robot and a Computer Via USB (RNDIS)
45
Connecting to a Computer Using a USB Type-A to Ethernet Adapter and Ethernet Cable (Optional)
47
KINOVA® KORTEX™ Web App
49
Connecting a Computer to the Robot Via Wi-Fi
51
Dimensions, Specifications, and Capabilities
53
Schematic and Dimensions
53
Technical Specifications
54
Sensors
56
Base Readings Available
57
Actuators Readings Available
58
Wrist Readings Available
58
Gripper Pose and Twist Readings Available
59
Gripper Finger Motor Readings Available
59
EEctive Workspace
60
Payload Vs. Workspace
61
Concepts and Terminology
63
Robot Key Concepts
63
Terminology Reference
65
General Mathematics and Robotics
65
Features, Components and Functionalities
67
Control Modes
68
Robot Control
69
High-Level and Low-Level Robot Control
69
Control Features
69
Singularity Avoidance
70
Protection Zones
70
Joint Limits
71
Cartesian Limits
73
High-Level and Low-Level Robot Control Methods Reference
73
High-Level Control Modes Description
75
Trajectory Control Modes
75
Joystick Control Modes
77
Low-Level Control Detailed Description
77
Configurations and Safeties
79
Configurable Parameters
79
Base Configuration
79
Actuators Configuration
80
Device Configuration
81
Safety Items
82
Base Safeties
82
Actuators Safeties
83
Gripper Safeties
86
KINOVA® KORTEX™ Web App User Guide
88
Introduction
88
Purpose
88
Device Availability of Web App
88
Platform and Browser Support
90
User Login
91
Web App Layout and Navigation
92
Robot Control Panel
95
Pose Virtual Joystick Control
95
Angular Virtual Joystick Control
97
Virtual Joystick Keyboard Shortcuts
98
Actions Panel
100
Snapshot Tool
100
Main Pages
100
Configurations
100
Safeties
104
Operations Page Group
105
Systems Page Group
115
Users
120
KINOVA® KORTEX™ Developer Guide
123
Introduction
123
Devices and Services
123
Available Services
124
Services, Methods, and Messages
125
KINOVA ® KORTEX™ API and Google Protocol BuEr
125
Service Client-Server Model
125
Blocking and Non-Blocking Calls
126
Device Routing and Transport
126
Robot Servoing Modes
127
High-Level Servoing
127
Low-Level Servoing
128
Notifications
129
Error Management
129
KINOVA ® KORTEX™ Github Repository
129
KINOVA ® KORTEX™ ROS Packages and Github Repository Overview
130
Guidance for Advanced Users
131
Overview
131
Reference Frames and Transformations
131
Standard Robot Frames
131
Homogeneous Transforms
132
Homogeneous Transform Matrices
132
Denavit-Hartenberg (DH) Parameters
134
Singularity Configurations
136
Inertial Parameters Definition
137
Inertial Parameters of the Robot
138
Maintenance and Troubleshooting
141
Maintenance
141
Troubleshooting
142
How to Respond to Safety Warnings and Errors
143
Contacting Kinova Support
144

Kinova Gen3 Quick Start Manual

Kinova Gen3 Quick Start Manual (12 pages)

Brand: Kinova | Category: Robotics | Size: 1 MB

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