KINOVA
®
Gripper adapter kit
Installation Guide
24
Overview of control modes
There are four control modes available for controlling the gripper and gripper adapter using the
communication system gamepad.
1.
Camera reference mode - translate and change the orientation of the gripper from the
perspective of a Cartesian coordinate system attached to the gripper adapter camera. Also,
open and close the gripper fingers. This control mode is useful when controlling the system
with visual feedback from the video camera.
2.
Robot base reference mode - translate and change orientation of the gripper in Cartesian
coordinates from the point of view of a user standing behind the robot looking forward. Also,
to open and close the gripper fingers.
3.
Go-to position - Save a position or command the gripper to move to a defined position.
4.
Laser control mode - Control the intensity level for white and IR LEDs and toggle the laser.
Changing control mode
In all control modes, the A, B, X, and Y buttons on the gamepad are set aside for the purpose of
selecting / changing the control mode.
Table 1: Mode Select control mapping
Control
Mode
A
Go-to position mode
B
LED / laser mode
X
Camera reference
mode (Cartesian)
buttons
Y
mode select
Base reference
mode (Cartesian)
Figure 10: Mode Select controls
Camera reference control mode
Camera reference control mode controls the motion of the gripper in Cartesian coordinates
with respect to the perspective of the view from the gripper adapter camera. This control mode
controls both translation of the gripper in three dimensions and rotation on three axes. This
mode can be activated by pressing the X button.
