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KINOVA

®

 

Gen3 Ultra lightweight robot 

User Guide

78

 Control modes overview

This section gives an overview of the control modes of the robot.

The robot is controllable in a number of control modes:

• trajectory modes

º angular trajectory
º Cartesian trajectory

• joystick control modes

º Cartesian joystick
º angular joystick

• admittance modes

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.

 Trajectory control modes

This section describes the Trajectory Control modes of the robot.

Using Trajectory Control modes, the user can send a desired endpoint pose or set of desired
joint angles to the robot. The robot controller computes an interpolated trajectory (between
current pose and target pose) to reach the final position, and commands the robot to follow this
trajectory.

In 

Cartesian Trajectory

 mode the endpoint pose is defined in terms of the desired Cartesian

space position of the end of the robot. This mode enables singularity avoidance.

In 

Angular Trajectory

 mode the endpoint pose is defined in terms of the desired joint angles for

the actuators.

To set the Trajectory control mode and execute trajectories, use the appropriate API methods,
or the 

Web App

 Actions page.

 Joystick control modes

This section describes the Joystick Control modes of the robot.

Joystick Control modes provide the user the ability to move the robot by sending speed
commands or twist (velocity and angular velocity) to the robot using joystick commands or
directly using cyclic commands.

In 

Cartesian Joystick

 mode the end effector of the robot is moved using twist (linear and

angular velocity) or joystick commands. Linear speed is defined in the base frame, while angular
speed is defined in the tool frame. This mode provides for singularity avoidance and obstacle
avoidance (protection zones).

In 

Angular Joystick 

mode the joints of the robot are moved in angular space using angular

velocity or joystick commands provided to the actuators. The joints can be moved individually or
together.

In 

Vision Joystick

 mode, the end effector is made to move, both in translation and rotation, in

relation to the Tool frame.

Содержание Gen3

Страница 1: ...KINOVA Gen3 Ultra lightweight robot User Guide ...

Страница 2: ...ter and E stop 23 Powering on the robot 23 Power up booting and initialization sequence 24 Resetting the robot to factory settings 25 Operating the robot 25 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...

Страница 3: ... pinout 64 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 General mathematics and robotics 71 Features components and functionalities 73 Control and Operation Modes 74 Control features 76 Singularity avoidance 76 Protection zones 76 Control modes overview 78 Trajectory cont...

Страница 4: ...ot 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 routin...

Страница 5: ...rrors 145 Contacting Kinova support 147 Guidance for advanced users 132 7 DoF singularity configurations 132 Reference frames and transformations 133 Homogeneous transforms 133 Homogeneous transform matrices 7 DoF spherical wrist 134 Standard robot frames 136 Dynamic parameters of the 7 DoF robot 137 ...

Страница 6: ...ng 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 We are here to help you in your journey If you need any help or have any questions about how to get to where you re going with the robot please feel free to contact our support team www kinovarobotics com support ...

Страница 7: ...their respective owners and are for identification purposes only 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 From time to time Kinova will make udpates to...

Страница 8: ...erturbations Radioélectriques EE End Effector EMI Electromagnetic Interference FOV Field of View fps frames per second GPIO General Purpose Input Output HDMI High Definition Multimedia Interface IC Integrated Circuit IEEE Institute of Electrical and Electronics Engineers I 2 C Inter Integrated Circuit bus I O Input Output IP Ingress Protection or Internet Protocol IT Information Technology ...

Страница 9: ...VRAM Non Volatile Random Access Memory PC Personal Computer Rx Receiver ROS Robot Operating System RPC Remote Procedure Call RPM Revolutions Per Minute RS Recommended Standard SSID Service Set IDentifier Tx Transmitter UART Universal Asynchronous Receiver Transmitter UDP User Datagram Protocol USB Universal Serial Bus UL Underwriters Laboratory ...

Страница 10: ...KINOVA Gen3 Ultra lightweight robot User Guide 10 UV Ultraviolet light VLAN Virtual Local Area Network WEEE Waste of Electrical and Electronic Equipment ...

Страница 11: ...ccident or damage caused by excessive current or used with incompatible parts 4 the End User is not in default under any of its obligations under this Agreement 5 replacement Products must have the benefit of the applicable warranty for the remainder of the applicable warranty period If Kinova diligently repairs or replaces the Products in accordance with this section it will be deemed to have no ...

Страница 12: ...ed payload For your personal safety and that of others never attempt to stop the robot or prevent its movement by holding it except in admittance mode the robot does not encounter any obstacles persons or objects Although inherently safe in its default configuration disabling the robot safeties requires that the user be responsible for ensuring a secure working space the end effector never collide...

Страница 13: ...ct the electrical contacts Wipe down the surface with a soft dry cloth to keep the surface of the interface clean The robot should not be used without the provided emergency stop connected Do not operate the robot when the relative humidity exceeds the maximum specified limit In such a case put down any object in the gripper bring the robot to a resting position and wait until the humidity decreas...

Страница 14: ...en consent of Kinova The content of this manual is furnished for informational use only and is subject to change without notice It should not be construed as a commitment by Kinova Kinova assumes no responsibility or liability for any errors or inaccuracies that may appear in this document Changes are periodically made to the information herein and will be incorporated into new editions of this pu...

Страница 15: ...dards for conducting a risk assessment are as follows ISO 12100 ISO 10218 2 The risk assessment should take into consideration all activities carried out in the context of the robot application including but not limited to teaching the robot during set up development of the robot installation robot troubleshooting robot maintenance everyday robot operation The risk assessment must be completed bef...

Страница 16: ... To protect the robot hardware from excessive heat safety thresholds shut down the robot if the temperature rises above a certain threshold 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 base CPU core and ambient temperatures actuators CPU core and motor temperatures interface modul...

Страница 17: ... includes unboxing physically mounting the robot securely provisioning electrical power controlling the robot using an Xbox gamepad 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 ...

Страница 18: ...the joints too quickly you will hear a mechanical noise and feel resistance This is a a passive mechanism within the large actuators designed to slow the descent of the robot when the power is cut This is only triggered if the joints turn too quickly above a certain threshold with the power off If you turn slowly this will not be triggered and you will be able to move the joints by hand freely Thi...

Страница 19: ...ble clamp Note The table must be large and sturdy to support a tabletop edge mounting If the table is too small or too flimsy the weight of the robot at the table edge combined with the movement vibrations may render it unstable Procedure 1 Place the base controller and mounting plate on the tabletop next to the edge Note You can place the controller in one of two orientations Either the connector...

Страница 20: ...izontal surface without the table clamp About this task Here we describe mounting the robot in a vertical orientation on a flat horizontal surface affixing the mounting plate or controller base to the surface using screws and sunk holes in the surface Procedure 1 Choose whether to mount the robot base controller directly onto the surface or whether to use the mounting plate 2 Using either the moun...

Страница 21: ...olting pattern This section describes the bolting pattern on the underside of the base controller This is useful when you want to affix the robot base directly to a surface Overview The underside of the controller has four M6 screw holes for mounting purposes These holes are used for attaching the mounting plate to the controller When the mounting plate is removed these holes can be used for mount...

Страница 22: ...KINOVA Gen3 Ultra lightweight robot User Guide 22 Mounting details Figure 3 Base and mounting holes ...

Страница 23: ...cted in series The E stop allows users to shut down the robot quickly in case of an emergency To engage the E stop press down on the red button on top of the E stop This will cut the power to the robot causing it to shut it down When the power is cut the robot will descend There are mechanisms within the large actuators to slow the fall of the arm for safety purposes However it is recommended that...

Страница 24: ... power button down for too long Holding the button for 10 seconds will result in a factory reset Power up booting and initialization sequence This section describes the LED indications during the power up sequence When the power button is held in to initiate a power up the robot will go through a regular boot up and initialization sequence The base LEDs will provide visual feedback as to the progr...

Страница 25: ...ower button The robot will then boot with factory default configuration settings Operating the robot This section gives an overview of the methods of controlling 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 KORTEX API Supported gamepad controllers This...

Страница 26: ...oller of the robot Pressing the left bumper clears the fault and returns the LED to green Applying emergency stop this will stop the robot Reaching home or retract position The available control mappings are in a sequential list starting with Twist linear and ending with Joint as listed above Pressing the View or Menu buttons will cause the active control mapping to switch to the previous or next ...

Страница 27: ... is connected In this mode the end effector is translated in space with respect to the Cartesian base frame The end effector orientation does not change in this mapping The user controls the linear velocity of the end effector including the linear speed Table 6 Twist linear general controls plus Action Control Cartesian X Toggle admittance Nullspace Y button left Cartesian translation command Y ri...

Страница 28: ...gular 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 In Twist angular the control is pure rotation of the end effector within the end effector reference frame around the three axes of that frame The user controls the angular veloci...

Страница 29: ...ed to the end effector Cartesian control Table 7 Twist angular general controls plus Action Control Cartesian X Toggle admittance Nullspace Y button yaw right left Cartesian rotation command Y yaw yaw left right pitch up down Cartesian rotation command X pitch pitch down up L stick roll left left Cartesian rotation command Z roll roll right right R stick decrease down Speed increase up D pad ...

Страница 30: ...an toggle through the joints actuators one by one starting with the first and going through in increasing order On reaching the last actuator it will then cycle back to the first The joint angular speed ω can be controlled Table 8 Joint general controls plus Action Control Toggle admittance Joint X button ω left Joint speed ω right L stick increase up Speed decrease down Previous left Navigate joi...

Страница 31: ...ttance mode The button with the raised solid circle shape is for Cartesian admittance in which the end effector of the robot moves in response to force exerted on it The button with the indented or ring shape is for null space admittance In this mode the end effector stays in a fixed position and orientation while the other joints move within the null space available at the given end effector seve...

Страница 32: ...the procedure to connect a computer to the robot via a wired connection for the first time This procedure requires some configuration of the computer s network adapter About this task This procedure is required to connect a computer to the computer for the first time via a wired Ethernet connection This requires some configuration of the computer The following procedure describes details for Windo...

Страница 33: ...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 mask 255 255 255 0 ...

Страница 34: ...pp provides a HTML Web browser based GUI to interact with the arm and perform basic tasks without using programming commands The Web App allows users to control and configure the robot via the GUI This includes Real time control of the robot in different modes using different virtual joysticks Setting the arm into admittance modes to manipulate the arm using external forces torques Viewing the fee...

Страница 35: ...pp Before you begin You should be using a computer that is connected to the robot either over a wired direct or over local area network or wireless connection and you should have the IP address of the robot on the network over which you are connected About this task 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...

Страница 36: ...the Networks page Open the Ethernet tab 2 Modify the IPv4 address IPv4 subnet mask and IPv4 gateway to match an available IP address with the IP address range of your network Note Once you modify the robot network parameters your client computer will lose connection with the robotic arm 3 Physically disconnect the robot from your computer and connect it via Ethernet cable to your local network at ...

Страница 37: ...least WPA2 are recommended 5 A pop up window will appear to sign in to the network with information about the signal strength and security settings Enter the password for the network and click the CONNECT button Take note of the IPv4 address that the robotic arm obtains after clicking the CONNECT button 6 On any wireless device connected to the same Wi Fi network open a Web browser and type the IP...

Страница 38: ...ibes the purpose components and functionalities of the robot base The robot is secured onto its physical mounting point and connects to power and control signals using a two part structure consisting of base shell controller The base shell is the bottom part of the robotic arm shell connected to the first actuator It mounts onto the controller and is secured in place with an integrated clamp The c...

Страница 39: ...l components of the controller include CPU Wi Fi Bluetooth adapter Only Wi Fi is used at present Ethernet switch USB hub temperature sensor 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 Controller quick connect system This section describes the controller quic...

Страница 40: ... 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 Figure 13 Base shell installation To remove the arm from the controller flip open the clamp and slide off the base shell ...

Страница 41: ...and protrude through a hole above the top surface of the controller a few mm until it reaches the end of its travel If the base shell is already clamped onto the controller when this is done the set screw will interface with a mechanism on the clamp and prevent the clamp from opening until the set screw is withdrawn This serves as a safety mechanism There is a hole on the clamp where the end of th...

Страница 42: ... amber green status LED indicator HDMI Out camera video Micro USB for firmware updates USB 2 0 type A qty 2 for wired controller Top port 1 A for charging Bottom port 500 mA max for peripherals RJ 45 Gigabit Ethernet LAN Binder USA 09 0463 90 19 joystick discrete I O E Stop expansion Lumberg 0317 08 power Note Cables connected to the base controller must be less than 3 m in length If not you must ...

Страница 43: ... collisions between robot shell segments There are two sizes of actuator small large Each actuator has torque sensing current and temperature sensing on each motor phase Wrist joints use small actuators while large actuators are used for other joints All actuators are equipped with a 100 1 strain wave gear for smooth motion The actuators are connected to each other and to the interconnect board us...

Страница 44: ...d from behind puts the arm into Cartesian admittance while the button on the left puts the arm into null space admittance The two buttons can be distinguished easily by touch without looking the Cartesian admittance mode button sticks out from the surface in the center while the null admittance mode button is slightly indented in in the center and ring shaped Note Only one of the buttons can be ac...

Страница 45: ...nd a position key hole used for alignment of the end effector in the right orientation Figure 18 Mounting holes and positioning key hole The interface module includes a 6 axis accelerometer gyroscope The module also includes an Ethernet switch to route connectivity and control data between the interface module and the vision module and any connected tool e g gripper ...

Страница 46: ... is mounted on the top side of the Interconnect module A housing containing sensors protrudes from the top of the Interconnect module The sensors are contained on the front face of the housing facing out parallel to the axis of the last actuator The Vision module is used to capture and stream image data captured looking in the direction the end of the arm end effector is pointed The Vision module ...

Страница 47: ...esolution and framerates º 480 x 270 30 15 6 fps 16 9 º 424 x 240 30 15 6 fps 16 9 FOV 77 diagonal minimum depth distance min Z 18 cm 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 320 x 240 30 15 fps 4 3 Vision module specifications Color sensor ...

Страница 48: ...rical wrist frames definition and dimensions The image above defines reference frames for the base joints when all joint angles 0 and end effector Each frame is defined in terms of the previous frame via a transformation matrix The diagram also indicates the link lengths and lateral offset values measurements in mm The maximum reach of the robot as defined by the distance from the shoulder Actuato...

Страница 49: ... 6 4 Joint 3 4 offset 6 4 Joint 4 5 offset 6 4 Table 10 Joint limits 7 DoF spherical wrist Angular range Actuator Lower limit Upper limit 1 2 126 126 3 4 147 147 5 6 117 117 7 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 Sa...

Страница 50: ...requency 50 60 Hz Table 13 Controller base Feature Detail power indicator blue LED status indicator red amber green LED USB 2 0 two ports Xbox gamepad connect 1 A charging top 500 mA USB peripherals lower Gigabit Ethernet RJ 45 for development PC connection Wi Fi IEEE 802 11a b g n KINOVA KORTEX Web App and API HDMI 1 4a for future use circular connector Binder USA 09 0463 90 19 joystick discrete ...

Страница 51: ...Table 16 Interface module Feature Function Vision module color and depth sensing Wrist status LEDs admittance mode indication Wrist pushbuttons null space Cartesian admittance mode programmable Kinova internal end effector interface connector Kinova internal use 10 pin spring loaded connector RS 485 compatible with Robotiq Adaptive Grippers 100 Mbps Ethernet UART 3 3V I 2 C 3 3V GPIO 3 3V qty 4 24...

Страница 52: ...ical High level control features mode dependent singularity handling Servoing modes high level low level Data recorder logging of position speed temperature torque battery etc user configurable Maximum velocity Angular position of individual joints Angular speed of individual joints user configurable Supported ROS distribution Kinetic Kame Boot time 45 s Internal communication frequency 1 kHz to b...

Страница 53: ...eturns a data structure with readings from sensors in the base actuators and interface For detailed information on how to unpack this data in an application see the BaseCyclic API documentation The following tables give more information about the sensor data Base readings available Table 19 Base readings available through API Field name Description arm_voltage arm voltage in V arm_current arm curr...

Страница 54: ...ct in m s 2 imu_acceleration_Y IMU measured acceleration Y Axis of interconnect in m s 2 imu_acceleration_Z IMU measured acceleration Z Axis of interconnect in m s 2 imu_angular_velocity_X IMU measured angular velocity X Axis ωx of interconnect in s imu_angular_velocity_Y IMU measured angular velocity Y Axis ωy of interconnect in s imu_angular_velocity_Z IMU measured angular velocity Z Axis ωz of ...

Страница 55: ...ty Z Axis of the end effector in s Effective workspace This section provides information on the effective workspace of the robot Effective workspace overview The effective workspace refers to the region in three dimensional space which is reachable by the robot end effector This is impacted by several factors including the number and length of the links the joint ranges and the shape of the links ...

Страница 56: ...o the base and will go down as the end effector gets farther out from the base axis temporary vs continuous the robot will have a maximum payload that can be handled temporarily for a short period of time However continued use of the arm with that payload for an indefinite period will cause the arm to heat up as the heat generated by the strain on the actuator exceeds the rate at which heat can be...

Страница 57: ...Physically mounting the tool using the screw holes available on the Interface module face Note The holes on the Interface module face are laid out to allow easy installation of Robotiq Adaptive Grippers using the four supplied M5 X 40 mm Socket Head Cap Screws SHCS include O rings for compliance with the IP rating for sealing For other third party tools it may be necessary to create a mounting str...

Страница 58: ...ansion interface designed to simplify the development required to incorporate different sensors end effectors or other tools boards The supported user interfaces are listed in the section Interface module user expansion connector pinout Kinova provides a reference design package which includes mechanical and electrical modular interfaces Mechanical interface The mechanical interface is a flanged c...

Страница 59: ...lectrical 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 Expansion Ethernet 100 Mbit through a RJ 45 port GPIO I 2 C and UART to be implemented in future software release Figure 23 Reference design electrical interface details in reference design package ...

Страница 60: ...es the circuit board schematic diagrams Remove end cap from Interface module This section describes how to remove the end cap from the Interface module Before you begin You will need a 3 mm hex key About this task The robot ships originally with an end cap over the interface Attaching an end effector to the robot requires removing the end cap first Removing the end cap exposes expansion and end ef...

Страница 61: ...dure describes the installation for Robotiq Adaptive Grippers Robotiq 2F 85 2F 140 or Hand E Gripper on the interface module of the robot The interface module allows easy mounting of Robotiq Adaptive Grippers This procedure mechanically mounts the gripper on the robot and integrates the gripper with the robot in terms of electrical power and control The interface module has four mounting holes cor...

Страница 62: ...r is in the positioning key hole of the interface module and the 10 pin spring loaded connector of the interface module is aligned with the corresponding mating interface on the gripper 5 Insert the four screws through the front face of the gripper Tighten each screw in sequence until they are all snug do not overtighten Results The Robotic Gripper will now be mechanically installed on the robot T...

Страница 63: ...or the four mounting screws Openings to accommodate the required cables connections with the connectors also need to be added The use of a 4 mm dowel pin to accurately localize the positioning key hole is optional but strongly recommended Figure 25 Mounting holes for gripper tool all dimensions in mm Interface module user expansion connector pinout This section describes the functionality availabl...

Страница 64: ...ath 8 ETH_TX_P 9 ETH_TX_N Ethernet Tx 100Mbps connected with EXP bus 10 GND signal return path 11 3V3 3 3V 100 mA can be used for small IC or sensor 12 UART_TXD signal 3 3V 13 UART_RXD signal 3 3V 14 GND signal return path 15 I2C_SCL I 2 C clock 3 3V 16 I2C_SDA I 2 C data 3 3V 17 GPIO1 18 GPIO2 19 GPIO3 20 GPIO4 General Purpose Input Output 3 3V to be implemented in future software release Spring ...

Страница 65: ...me Comment 1 GND 2 GND power return path 3 24V 4 24V 24V 1A power for end device current limit shared with interface module user expansion port 5 PRESENT end device presence detection connect to GND on end device 6 N C no connection 7 RS485_N 8 RS485_P RS 485 signal pair bidirectional 9 GND signal return path 10 N C no connection ...

Страница 66: ...ables dual Ethernet networks between all the devices base actuators interface Vision module and end effector tools with data carried between the base and interface over the 41 pin flex cables This is accessible from a client computer via the 1 Gbps Ethernet port on the base controller connector panel The flex cables carry two distinct 100 Mbps Ethernet communications channels one is for control an...

Страница 67: ...on VLAN 30 external The base has network interfaces to all three of these VLANs Table 27 Base network interface IP addresses VLAN IP address CTRL interface IP address 10 10 0 1 24 EXP interface IP address 10 20 0 1 24 EXT interface IP address 192 168 1 10 24 The graphic below illustrates the topology of the networks CIDR notation ...

Страница 68: ...s settings for the base controller the two streams are accessible via color sensor stream rtsp base IPv4 address color depth sensor stream rtsp base IPv4 address depth For the default configuration of the base controller network interface this would give rtsp 192 168 1 10 color rtsp 192 168 1 10 depth Note Examples in the documentation will use the default base controller IP setting for simplicity...

Страница 69: ...ystick angular trajectory vision joystick Cartesian joystick Cartesian trajectory Cartesian admittance joint admittance null space admittance Controller A controller is a device or interface through which a user can produce actions on the robot Factory settings Factory settings are the configuration settings of the robot as they were when the robot arrived from the manufacturer A robot can be retu...

Страница 70: ...f actions Servoing mode A servoing mode is a modality through which commands are transmitted to robot devices during operation The servoing modes are as follows high level servoing user s send commands to the base which routes the commands to the desired device The base also manages a 1 kHz control loop º single level a single user sends commands to a base low level servoing the user sends command...

Страница 71: ...losed Loop control system Control system of a robot manipulator by means of sensor feedback As a manipulator is in action its sensors continually feed information back to the robot s controller which is used to further guide the manipulator within the given task Many sensors are used to provide information about manipulator placement speed torque and applied forces as well as the location of a tar...

Страница 72: ...e expressed in several ways Think of it as a vector This would be the orientation of this vector Path The continuous locus of points or positions in three dimensional space traversed by the tool center point and described in a specified coordinate system 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 a...

Страница 73: ...ty tolerances in link lengths etc Admittance Used in several control modes wherein the arm is moved directly by the user touching the arm and applying force and torque to the end effector the wrist or to individual joints Base Refers to the stationary base structure of a robot arm that supports the first arm joint Base support The stable platform to which the base is attached Continuous Path Descr...

Страница 74: ...r moves from point to point rather than along a smooth continuous path Protection Zone A volume in space where the robot can be limited in speed acceleration and force Protection Zone Management For assistive cases removal of the part of the translation command directed towards the inside of the protection zone Use of the fitness function to avoid the elbow getting inside the protection zone Redun...

Страница 75: ... Mode Allows the application of external force to the EE so as to guide the arm to a new position Joint Admittance Mode Allows the application of external force at the links without affecting the EE pose Null Space Admittance Mode Robot configuration can be changed by applying external forces at the links without affecting the EE pose Trajectory Mode A specific trajectory in the robot Cartesian wo...

Страница 76: ...re calculated singularities do not occur in any of the joint modes Note The robot behavior may change somewhat at or near a singularity For example the tool speed may be reduced or the motion may deviate from the commanded motion Protection zones This section describes the protection zones feature of the robot With this feature the user defines protection zones programmatically or by using the Web...

Страница 77: ...lanar 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 APIs ...

Страница 78: ... defined in terms of the desired Cartesian space position of the end of the robot This mode enables singularity avoidance In Angular Trajectory mode the endpoint pose is defined in terms of the desired joint angles for the actuators To set the Trajectory control mode and execute trajectories use the appropriate API methods or the Web App Actions page Joystick control modes This section describes t...

Страница 79: ... mode the joints of the arm move according to the torques applied In Null Space Admittance mode the 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 torques applied This mode provides for singularity avoidance There are three ways to put the robot into admittance use the method SetAdmitta...

Страница 80: ...bles give a summary of the configurable parameters Base configuration Table 28 Base configuration Kinova Api Base Configurable item Description User Profiles Create read update and delete user profiles Protection Zone Create read update and delete protection zones for obstacle avoidance Configurable parameters are enabled disabled zone shape type rectangular prism cylinder sphere zone dimensions e...

Страница 81: ...ry defaults Actuators configuration Table 29 Actuator configuration Kinova Api ActuatorConfig Configurable item Description Axis offsets Set actuator axis offset position Torque offset Set actuator torque offset value Control mode Set actuator control mode Options position velocity current custom Activated control loop Define the contents included in activated control loop Set bit mask 1 to includ...

Страница 82: ...cription Run mode Set device run mode Run Calibration Configuration Debug Tuning IPv4 settings Set device IPv4 address subnet mask default gateway Vision configuration Table 31 Vision configuration Kinova Api VisionConfig Configurable item Description Sensor Set several discrete vision sensor settings Color sensor resolution 320 x 240 640 x 480 1280 x 720 1920 x 1080 frame rate 15 or 30 fps bit ra...

Страница 83: ...ble in the Web App Configuration page Overview Safety items and their associated warning and error thresholds are viewable within the Configuration page of the Web App There are three categories of safeties Base controller safeties Actuators safeties Interface module safeties The tables that follow give more information about the safeties including Description significance of the safety item Hard ...

Страница 84: ...he base current reading is above upper limit 12 0 A 10 0 A 16 0 V 18 0 V Minimum Voltage The base voltage reading is below lower limit Note The minimum voltage must be lower than the maximum voltage 24 0 V 16 0 V 24 0 V 30 0 V Maximum Voltage The base voltage reading is above upper limit Note The maximum voltage must be higher than the minimum voltage 31 0 V 31 0 V Emergency Stop Activated Emergen...

Страница 85: ... the actuator is greater than threshold sec 150 s 120 s 0 N m 29 4 N m Small 52 N m 51 3 N m 0 N m 56 7 N m Maximum Torque Large Torque reading higher than x N m 105 N m 104 5 N m 0 3 0 Magnetic Position Position step of more than threshold ms has been read on the magnetic sensor 20 5 0 0 n a Small 10 0 4285 0 n a Hall Position Large Position step of more than threshold ms 10 0 2145 Hall Sequence ...

Страница 86: ...e thresholds must be lower than the maximum voltage thresholds 24 0 V 16 0 V 24 0 V 30 0 V Maximum Voltage The voltage reading is above upper limit Note The maximum voltage thresholds must be higher than the minimum voltage thresholds 31 0 V 31 0 V 0 0 C 60 0 C Maximum Motor Temperature Motor temp is above upper limit 80 0 C 75 0 C 0 0 C 80 0 C Maximum Core Temperature Core temp above upper limit ...

Страница 87: ...temperature of the connected 3rd party gripper if compatible gripper is attached is above the higher limit If gripper is not present the safety is disabled n a n a 16 0 V 18 0 V Minimum Voltage Voltage reading below lower limit Note minimum voltage thresholds must be below maximum voltage thresholds 24 0 V 16 0 V 24 0 V 30 0 Maximum Voltage Voltage reading above upper limit Note maximum voltage th...

Страница 88: ...Graphical User Interface that runs on the robot This web interface allows users to configure control and monitor the robot through a web browser interface from a computer connected to the robot over a wired Ethernet or Wi Fi connection Device availability of Web App This section describes the device availability of the Web App The Web App is a responsive web application It is designed to adapt its...

Страница 89: ...KINOVA Gen3 Ultra lightweight robot User Guide 89 Figure 29 Tablet ...

Страница 90: ...rating system support Microsoft Windows 7 8 10 Ubuntu LTS 16 04 Android 8 1 and higher Other browsers and platforms are not currently supported some features may work differently in those cases Support for other major browsers is planned for the near future User login This section describes how to log in to the Web App After establishing a network connection between your device and the robot open ...

Страница 91: ...rd when the robot first arrives are username admin password admin Figure 32 User login On pressing CONNECT the Web App will launch and initialize While it is doing this the Web App will give visual feedback to the user on the status of initialization of the application and loading of robot configurations into the application Figure 31 Launching ...

Страница 92: ...ation This section describes the layout and navigation of the Web App The Web App screen is divided into several main sections Main navigation panel Main information panel Notification bar Shortcuts panel Robot control panel Mode indicator user icon and E stop Figure 34 Getting robot configurations ...

Страница 93: ...e 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 Notifications Camera Configuration Actions Protection Zones Controllers Networks Users System Information Monitoring Upgrade ...

Страница 94: ...ollers configure and choose active gamepad control mode Camera view camera feed from robot video module Notification bar The notification bar at the top of the page gives a visible high level summary of information in the Notifications Center It displays the most recent events coming from the robot as well as a count of outstanding warnings and errors In the upper right hand corner of the screen a...

Страница 95: ...buttons in the robot control panel will launch a smaller window from the bottom of the screen revealing the selected control panel Clicking the same button again will clear the smaller window at the bottom Snapshot tool The snapshot tool gives the ability to capture a snapshot of a robot pose This is a useful feature to help with building pre set sequences for demos or to capture program a fixed s...

Страница 96: ...the user can configure the joystick axis that is assigned to control the y direction movement As the controls are moved a display is provided for the current position x y z and orientation θx θy θz of the end effector Finger controls It is possible to open and close the fingers using a single 1 axis joystick control if a gripper is installed Push the control up to open the fingers and down to clos...

Страница 97: ...el allows users to control the robot joint angles through the Web App using a mouse or touch control on a tablet or smartphone Figure 37 Angular virtual joystick panel The joint angles can be controlled through angular velocity control the angular speed of each actuator The angular joystick panel is launched by clicking the second button on the robot control panel The virtual joystick controls all...

Страница 98: ...ween 0 fully closed and 100 fully open Push the joystick to the right to increase the percentage and open the fingers Push the joystick to the left to decrease the percentage and close the fingers Virtual joystick keyboard shortcuts This section describes keyboard shortcuts for the Web App virtual joysticks Introduction The virtual joysticks for the Web App are controllable with mouse or touch inp...

Страница 99: ...ngles can be descreased using the letter keys QWERTYU on the top row of the keyboard Admittance modes panel This section describes the admittance mode panel of the Web App The Admittance Mode panel is brought up by clicking the hand icon in the robot control panel The panel slides up from the bottom of the screen Figure 38 Admittance modes panel An admittance mode is one in which the control syste...

Страница 100: ...e accessed either from the main navigational panel or from the top notification bar by selecting All Figure 39 Notification Center Users can either view all notifications or view notifications by type There are four types of notifications Config indicates a change in robot configuration such as creating modifying deleting or activating a User Profile Protection Zone Action or Control mapping Info ...

Страница 101: ... Camera page of the Web App The Camera page allows you to see the video feed from the installed vision module There are four controls available on this page Start auto focus Pause auto focus Focus now Disable auto focus Configurations This section describes the Configurations page of the Web App The Configurations page allows users to configure different aspects of the arm hardware and set safetie...

Страница 102: ... two sub tabs Configurations Safety Configurations tab This section describes the Configurations tab of the Web App Configurations page Configurations The Configurations tab of the Configurations page lets you use a GUI to adjust the configurable parameters of the robot hardware to customize its behavior Figure 42 Configurations The configurable items are broken into four sections Base Vision Actu...

Страница 103: ...er the user The thresholds for errors are set at a more extreme level than warning thresholds Note An error triggers an emergency stop for the robot 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 In the Web App warning ...

Страница 104: ...θx θy and θz representing the orientation of the end effector Angular represents the set of joint angles for each of the arm joints End effector represents the gripper state from 0 fully open to 100 fully closed Note Currently the Robotiq 2 finger gripper is supported A Sequence is defined as a sequence of keyframe poses on a timeline which are interpolated by the software in the robot base to pro...

Страница 105: ...ve 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 The large cards carry full information about the action ...

Страница 106: ...e to edit the action delete the action duplicate the action assign a color code to the card Export a representation of the action to XML or JSON Small cards on the other hand show a more compact view with the functions other than Play hidden By clicking More you can access a pop up with the remaining functions ...

Страница 107: ... 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 Any pose captured by the snapshot tool will show up on the actions page For more information see the snapshot tool page ...

Страница 108: ...n The edit action section lets you directly edit the parameters of the action The link icon indicates that the action referred to in the Sequence is a reference to an existing standalone action If that standalone action is modified outside this sequence it will have an impact on the sequence By opposition if the action for example the first one in your screen capture does not have that link icon i...

Страница 109: ...ting and exporting actions or sequences You can Export All defined actions or sequences as XML or JSON to share with others Similarly a JSON or XML action file can be imported from the computer The Export All and Import functions are available at the top of the main panel Playing back actions and sequences This section describes how to play back actions and sequences When an action or sequence is ...

Страница 110: ...s an additional looping control can be toggled on or off When toggled on a sequence will play through all the steps and then go directly to the pose of the first step This is useful for demonstrations Protection Zones This section describes the Protection Zones page of the Web App The Protection Zones page allows user to define three dimensional geometric volumes about the robot where the robot ei...

Страница 111: ...ds show a more compact view Only the name of the protection zone and a toggle to activate the zone are displayed By clicking More a pop up menu gives options to edit delete or duplicate the protection zone Figure 53 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 This will cr...

Страница 112: ... 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 motion is allowed but velocity is limited The default is for the protection zone to be centered on the robot base with its z axis aligned with the base z axis However this is also configurable The center of the protection zone ca...

Страница 113: ...Wrist Mapping The XBox Mapping is for a generic Xbox gamepad The robot has three preset control mappings defined for the Xbox gamepad These mappings correspond to the mappings that can be toggled using the physical buttons on the gamepad Xbox 360 Twist Linear Xbox 360 Twist Angular Xbox 360 Joint The Wrist Mapping is for the two buttons on the wrist of the robot The preset mapping corresponds to t...

Страница 114: ... 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 Networks This section describes the Networks page of the Web App The Networks page is used to set network parameters for Ethernet Wi Fi Figure 58 Wrist Mapping tab ...

Страница 115: ...ows 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 Figure 60 Wi Fi Settings tab Users This section describes the Users page of the Web App The Users page is used to define set and edit user profiles for the robot ...

Страница 116: ...r name and language Medium cards are slightly smaller Small cards show a more compact view By clicking the More button a pop up menu is revealed to allow you to View Edit Delete or Duplicate the profile Clicking Edit brings you to an editing interface where it is possible to configure the profile Figure 62 Card editing interface Creating a new user profile This section describes how to create a ne...

Страница 117: ...e 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 System Information This section describes the System Information page of the Web App The System Information page gives a quick high level view of hardware and firmware configuration details Figure 63 System Information page The information on the page is displayed within dif...

Страница 118: ...s when opening a new session using the Web App Figure 64 Monitoring page The monitoring information is divided into six sections Base Actuators Interconnect End effector There are two tabbed views available selectable through three tabs at the top of the screen Overview Detailed Overview tab contents The Overview tab shows the following information in each section Base º operating mode maintenance...

Страница 119: ...º CPU core temperature C º ambient temperature C º acceleration x y z of the base m s 2 º angular velocity x y z of base s Actuators for each joint º measured position º measured velocity s º measured torque N m º motor current A º voltage V º motor temperature C º core temperature C Interconnect º acceleration x y z of interface m s 2 º angular velocity x y z of interface s º voltage V º core tem...

Страница 120: ...obot upgrade package includes robot devices firmware updates º base controller º actuators º interface module º vision module Web App upgrade package KINOVA KORTEX API upgrade package Figure 65 Upgrade page 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 ...

Страница 121: ...ns Cartesian pose Joints pose Gripper pose Pressing one of the respective snapshot buttons will capture a snapshot of that type of pose the robot is currently in The pose will be saved and will show up as one of the saved Actions viewable in the Actions page A new robot update package needs to have been previously downloaded to the development computer The development computer needs to be connecte...

Страница 122: ... 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 GitHub kinovarobotics kortex and kinovarobotics ros_kortex respositories contain additional developer guidance and resources including detailed API documentation setup instructions and source code examples Devices and services This section de...

Страница 123: ...l service Provides functions for configuring a range of base related functionalities as well as high level control for the robot DeviceManager provides a list of device information used for internal communication routing purposes Cyclic data communications sending commands to devices and or receiving status feedback on a periodic or as requested basis Cyclic data communications are used with low l...

Страница 124: ... is that multiple sessions can be active on the robot and multiple users can pull data from the robot However only one session can actively control the robot at any given time Rules are in place on the robot base to manage which session has control of the robot at any given time Services methods and messages This section describes the concept of messages used by functions within services The API s...

Страница 125: ...poll periodically for updates the client application subscribes to a list of Topics Whenever a change happens related to that topic whether caused by the same client session or another a publisher sends a notification to all subscribers Notifications are surfaced to clients via the API and are also displayed in the Notifications page of the Web app Client applications can also unsubcribe from a to...

Страница 126: ... level servoing users connect to the base through the API whether directly or through the Web App built on top of the API sending command inputs The base routes commands to the actuators and manages a 1 kHz control loop High level servoing is the recommended servoing mode for non advanced users High level servoing allows a client to control the robot by sending it a target angular or Cartesian pos...

Страница 127: ...rol mode returns to IDLE and someone else can take control by sending control inputs via the Web App or API calls Override by physical controls Physical controls of the robot via a connected Xbox gamepad or the buttons on the robot wrist override user session control of the robot via Web App or API calls These physical controls always take precedence immediately without having to wait for the grac...

Страница 128: ...nt with the robot When an API method is called sometimes an error will result There are three main categories of errors Protocol server errors Protocol client errors Device errors The first two categories of errors include all errors relating to the the internal communication protocol ex invalid unsupported or unknown calls out of session call etc The other category is for errors coming from the t...

Страница 129: ...pics depending on the method RPC methods are exposed via ROS services pub sub methods are exposed via ROS topics 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 Detailed documentation of the packages is available on the Kinova ros_kortex GitHub repository at github com kinovarobotics ros_korte...

Страница 130: ...o the RTSP server at the color stream URL with latency of 30 ms rtph264depay Extract H 264 video payload from RTP packets avdec_h264 decode H 264 video autovideosink search computer registry for video sink player and plays decoded video stream Depth stream CLI example command to display the depth stream gst launch 1 0 exe rtspsrc location rtsp 192 168 1 10 depth latency 30 rtpgstdepay videoconvert...

Страница 131: ... autovideosink Unpacking the example gst launch 1 0 launch GStreamer rtspsrc location rtsp 192 168 1 10 depth latency 30 connect to the RTSP server at the color stream URL with latency of 30 ms rtpgstdepay extract GStreamer buffers from RTP packets videoconvert automatically convert the video to a format understandable to the chosen video sink in the next step autovideosink search computer registr...

Страница 132: ...ey occur and how the robot behavior is altered near the singularity while in Cartesian mode Table 37 Selected singularity configurations description Singularity Description Robot behavior Boundary singularity The arm is at full reach Joint 4 elbow is at 0 The arm cannot move any farther in the direction it is currently reaching out Due to singularity avoidance it s not possible to bring the elbow ...

Страница 133: ... Joint 5 is at 90 or at 270 so that the axes of joint 4 and joint 6 s axis are perpendicular The robot can no longer complete pure rotations around an axis Due to singularity avoidance it s not possible to bring joint 5 near 90 or 270 when joint 6 is near 0 in Cartesian mode The control algorithms will try to avoid the singularity by moving joint 5 away from 90 or 270 and joint 6 away from 0 while...

Страница 134: ...formation matrix for a rotation of qi around joint i the z axis for the joint frame is always defined to be along the joint axis of rotation i 1 T i is the matrix for the general transformation matrix from frame i 1 to frame i Homogeneous transform matrices 7 DoF spherical wrist This section is a reference for the homogeneous transform matrices for the 7 DoF spherical wrist robot ...

Страница 135: ...KINOVA Gen3 Ultra lightweight robot User Guide 135 Figure 70 Frame definitions and dimensions all joints at 0 position dimensions in mm ...

Страница 136: ...me 3 Frame 3 to frame 4 Frame 4 to frame 5 Frame 5 to frame 6 Frame 6 to frame 7 Frame 7 to end effector Note units are in meters for homogeneous transform translations in the right hand column of each matrix Transformation i 1 Ti i 1 T i Base to frame 1 Table38 Transformationmatrices ...

Страница 137: ... inertia The center of mass of a link is always expressed in the coordinates of the precedent joint frame The mass of a link segment includes the shell and portions of the input and output actuators as applicable that are enclosed within the link and move rigidly with the link Overview moments of inertia taken at the center of mass and aligned with the output coordinate system I Standard robot fra...

Страница 138: ...se Physical quantity Value mass kg 1 697353 center of mass coordinates m 0 000648 0 000166 0 084487 moments of inertia kg m 2 Table 40 Link 1 Physical quantity Value mass kg 1 377353 center of mass coordinates m 0 000023 0 010364 0 073360 moments of inertia kg m 2 ...

Страница 139: ...2 Physical quantity Value mass kg 1 163667 center of mass coordinates m 0 000044 0 099580 0 013278 moments of inertia kg m 2 Table 42 Link 3 Physical quantity Value mass kg 1 163667 kg center of mass coordinates m 0 000044 0 006641 0 117892 moments of inertia kg m 2 ...

Страница 140: ...k 4 Physical quantity Value mass kg 0 930287 center of mass coordinates m 0 000018 0 075478 0 015006 moments of inertia kg m 2 Table 44 Link 5 Physical quantity Value mass kg 0 678106 center of mass coordinates m 0 000001 0 009432 0 063883 moments of inertia kg m 2 ...

Страница 141: ...0 045483 0 009650 moments of inertia kg m 2 Table 46 Interface Module Physical quantity Value mass kg 0 364223 center of mass coordinates m 0 000093 0 000132 0 024666 moments of inertia kg m 2 Table 47 Interface Vision Module Physical quantity Value mass kg 0 500657 center of mass coordinates m 0 000281 0 011402 0 031080 moments of inertia kg m 2 ...

Страница 142: ...ntenance Some preventive maintenance tasks are helpful for protecting your robot and getting the most out it over time Cleaning contacts on base controller keep contacts clear of dust and contamination wiping electrical contacts regularly with a soft moistened cloth Fine adjustment of base clamp Some adjustment may be needed for the base clamp to ensure that the robot is firmly clamped onto the ba...

Страница 143: ...y with a soft dry cloth Setting protection zones volumetric protection zones should be established around the robot to protect it from potential damage caused by collisions with known obstacles Protection zones can be set using the KINOVA 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...

Страница 144: ... cleared The gamepad can be used to clear faults press the left bumper once and proceed Open the Web App and check the monitoring page for high level status information on various components Check the Web App Notifications page for any recent notifications Check the Web App Safeties page to see if the robot has passed a warning or error threshold If any safety us triggered the safety item will be ...

Страница 145: ...e solid red solid system in error state 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 Overview The robot has a number of warning and error thresholds set for safety purposes These are viewable and in some case configurable in the Web application The following tables give more guidance as to...

Страница 146: ...lization Error Base CPU board issue Maximum Current Shorted phases on a joint Payload exceeded Maximum Voltage Power supply issue Electronic component failure Minimum Voltage Power supply issue Electronic component failure Emergency Stop Activated XBox gamepad emergency stop button clicked Web application emergency stop button clicked Emergency Line Asserted Joint not programmed Joint in a boot lo...

Страница 147: ...magnet on magnetic encoder Maximum motor current Shorted phases Bad motor Non volatile memory corrupted Incomplete calibration s No system information entered No torque calibration Motor driver fault Shorted phases Hall sensor issue Watchdog triggered Firmware issue Contacting Kinova support Here s where to turn for related support and advice For support and advice on hardware related issues pleas...

Страница 148: ...rd 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 555 Dongchuan Road Minhang District 200241 Shanghai P R China 86 1862 1111 822 UG 014_2018 12 R01 ...

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