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Jaco® assistive robot User guide

18

Note: 

 The offset is meant to shift the rotation center for wrist rotation from the center of

the gripper to a point corresponding to the rim of a typical sized drinking glass held by the
gripper. This way, the wrist will rotate, but around a point on the rim of a virtual glass, aided
by movement of the elbow of the robot arm. This is similar to the way we coordinate an
adjusted rotation of our wrist with movement of our forearm and elbow while drinking with
a glass so that the glass tips its rim toward the mouth to pour.

In 

Finger mode

, the user controls the opening and closing of the fingers.

Note: 

 The robot will sometimes respond differently to a given command than described in

this section. This may be due to the singularity and collision avoidance algorithms embedded
in the kinematics. It is a normal protective behaviour of the robot and is position dependent.

 Operating the robot via joystick

This section describes operation of the robot using the joystick.

This section explains how to operate the robot with factory configuration. Contact your reseller for
operation instructions in the case of an adapted configuration.

 Before operating the robot, please make sure it is properly installed.

 Do not manipulate cutting, very sharp or any dangerous tools or objects with the robot.

 This equipment is not designed to act as a lift.

 This equipment is not designed to be used in presence of flammable mixture. (Not AP or APG

rated).

 Do not install the robot near any heat sources, such as radiators. Do not use it to directly

manipulate hot objects.

 Joystick control quick start

This section describes how to get started using the Kinova joystick to control the robot in the
default configuration.

Before you begin

The joystick needs to be connected to the robot.

About this task

This procedure provides a quick hands-on walkthrough of controlling the robot with the joystick.

Procedure

1.

Turn ON the device by pushing the ON/OFF switch located on the robot base.

2.

Wait until the green lights on the controller stop flashing.

3.

Put the robot in its Home position by holding down the HOME/RETRACTED button until the
robot stops moving. The robot will slowly reach the Home position.

Note: 

 When starting the robot, you are in 3-axis operation mode, 

Translation control

mode

, meaning that any movement of the joystick will move the center of the gripper

parallel to the floor.

+1 514-277-3777 

kinovarobotics.com

© 2021 Kinova inc. All rights reserved.

Содержание JACO

Страница 1: ...Jaco assistive robot User guide ...

Страница 2: ...l use definition 13 Electromagnetic interference from radio wave sources 14 Operating and controlling the robot 15 Kinova joystick controller 15 Packing materials 23 OLED display accessory 24 OLED General information 24 Dimensions 24 Identification of parts 24 Specifications 25 Installation guidelines 26 Connecting the display 27 The OLED display 28 Precautions 28 Power up sequence 29 Screen sections...

Страница 3: ... General information 39 Lift arm specifications 41 Lift arm components 41 Lift arm limit switch 42 Controlling tilt back forward control 43 Using the swing away mechanism 44 Cleaning maintenance and disposal 46 Contacting support 48 ...

Страница 4: ......

Страница 5: ... The content of this manual is furnished for informational use only is subject to change without notice and 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 these changes will be incorporated into new editions of this publication Kin...

Страница 6: ...d all instructions before using this product Read all warnings on the product and in this guide Follow all instructions Keep these instructions for future reference This document contains information regarding product setup and operation It is intended for Kinova product end users Field service customer support and sales employees of authorized Kinova distributors 1 514 277 3777 kinovarobotics com...

Страница 7: ...ry if ignored Tip on the maintenance operation and manipulation of Kinova s products Notice General important information and good practice Caution Safety measure that could lead to equipment damage if ignored Refer to accompanying documents Pinch point Medical device Serial number Date of manufacturing Manufacturer Kinova inc 4333 boulevard de la Grande Allée Boisbriand Québec J7H 1M7 Direct curr...

Страница 8: ...substances Type BF Applied Part device European Union EU mandatory conformity marking Kinova assumes no liability of any kind if safety measures are not followed Please read all the information concerning this product before using it This document is addressed to Kinova s authorized certified partners distributors and end users 1 514 277 3777 kinovarobotics com 2021 Kinova inc All rights reserved ...

Страница 9: ...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 replace the Products in accordance with this section it will have no further liability for a breach of the relevant warranty Allegedly defective Products returned to Kinova in accordance with this cont...

Страница 10: ...the robot under water or snow When lifting weight near the maximum load and reach and you receive a warning put down the object in the gripper bring the robot back to the Home or Retract position and wait until the warning goes away before using it again The wheelchair mode wheelchair seat motorization arm must never be switched while operating the robot There is a risk of user contact with the mo...

Страница 11: ...and your body and or the wheelchair Ensure when lowering the lift arm that the gripper on the end of the robotic arm does not make contact with the floor or ground The arm still holds up the full weight of any object so attempting to lift a heavier object may cause damage to the robotic arm or the lift arm Such damage would fall outside the limitations of the warranty Do not use the lift arm in hea...

Страница 12: ...at bystanders particularly children have their fingers clear of the lift mechanism before engaging the lift arm Buttons should not be disconnected from the lift arm controller except by a Kinova approved professional The limit switch should only be adjusted by a Kinova approved professional 1 514 277 3777 kinovarobotics com 2021 Kinova inc All rights reserved ...

Страница 13: ...r linked segments Through the controller the user can move the robot in three dimensional space and grasp or release objects with the gripper Do not modify equipment without the authorization of the manufacturer It is not recommended to use the arm under heavy rain or snow Components This section shows the components of the robot Figure 1 Robot components Robot external connectors This section des...

Страница 14: ...rposes The control port and power connector are intended to be connected only with a Kinova approved device Connecting other devices may result in poor performance electrical shock or fire it could also make the arm inoperable and void your warranty To prevent risk of fire or electric shock avoid using extension cords Protect the cords from being walked on or pinched Specifications This section descr...

Страница 15: ... back and up down of the hand In wrist mode the user controls the position of the arm around the center point of the hand reference point which will not move or move slightly when operating this mode Lateral orientation refers to a thumb index circular movement of the wrist around the reference point Vertical orientation refers to a top bottom circular movement of the wrist around the reference po...

Страница 16: ...er mode Home retract positions This section describes the Home and Retracted positions of the robotic robot The robot comes with two configurable factory default pre set positions Home position and Retract position Home and retract positions are configured using the Kinova Assistive Robotic Arm Configurator utility 1 514 277 3777 kinovarobotics com 2021 Kinova inc All rights reserved ...

Страница 17: ... for the robot including speed limits and no go zones around your body º Mapping controls of the robot to the wheelchair controller º Setting up home and retract positions The process may take several hours and the installer will make sure that the robot installation is customized to the specifics of your equipment and needs The details of how to operate the robot in different modes of control and ...

Страница 18: ...t to stop moving for a period of 10 seconds In this case the device will simply re initialize and you will be able to continue to use it In extremely rare case it can also permanently damage the control system The intensity of the interfering EM energy can be measured in volts per meter V m The product can resist EMI up to certain intensity This is called immunity level The higher the immunity lev...

Страница 19: ...there is a source of EMI nearby Operating and controlling the robot Jaco is meant to be connected and controlled through the joystick on a power wheelchair joystick The Jaco is meant to be connected and controlled through the power wheelchair s joystick Operate the Jaco through the power wheelchair menu The Jaco functions are featured on the OLED display the section OLED display accessory To contr...

Страница 20: ...Buttons One click Hold 2 sec Hold until position is reached Deactivate Activate Joystick Change joystick operating mode 2 axis Vs 3 axis Home Retracted function 3 Axis 1 Deactivate Activate Drinking mode 2 Set Position 3 Go to pre set position A Reach Finger mode Decrease speed B Reach Translation Wrist mode Increase speed Ext1 Reach Finger mode Decrease speed Ext2 Reach Translation and Wrist mode...

Страница 21: ...n variations around the tool reference frame The different joints are piloted automatically following the given command In Translation mode the user controls the position of the gripper tool in space The gripper will always keep the same orientation with respect to the robot base Translation X refers to left right movements of the gripper Translation Y refers to front back movements of the gripper...

Страница 22: ...e case of an adapted configuration Before operating the robot please make sure it is properly installed Do not manipulate cutting very sharp or any dangerous tools or objects with the robot This equipment is not designed to act as a lift This equipment is not designed to be used in presence of flammable mixture Not AP or APG rated Do not install the robot near any heat sources such as radiators Do n...

Страница 23: ...tion 8 Hold the On Off Button for 2 seconds to change the operating mode This will disable the stick rotation You are now in a 2 Axis Translation control mode Stick rotation won t have any effect and you will only be able to control the horizontal translation of the robot X and Y axis 9 One press of Button 3 will bring you to control the vertical translation of the gripper Translation Z and Wrist ...

Страница 24: ...4 6 6S 7S DoF Incline FRONT Open Fingers 2 finger mode 6S 7S DoF Incline BACK Close Fingers 2 finger mode 6S 7S DoF Default joystick motion settings Cartesian two axis mode This section describes default motion settings in Cartesian two axis mode Table 5 Two axis mode joystick controls Joystick movement Robot movement Availability Translation X and Translation Y Incline FRONT Gripper moves forward 4...

Страница 25: ...ack The Kinova joystick offers visual feedback Blue LEDs control mode Green LEDs robot power Red LEDs error condition s Joystick blue LED feedback This section describes the blue LED feedback on the Kinova controller The blue LEDs on the controller give feedback on the current control mode The interpretation of the blue mode LED indicators is described in the following table Table 6 Control mode f...

Страница 26: ...It is not yet ready to use Solid The robot is powered and ready to use Joystick red LED feedback This section describes the red LED feedback on the Kinova controller The red lights offer visual feedback on possible errors that may occur while operating the robot Table 8 Error status feedback Red LED indication Cause of the error status Action to resolve the situation The weight being lifted is too...

Страница 27: ...ack on If the problem remains contact your distributor or Kinova Packing materials The product packing material can be disposed of as recyclable material Metal parts Metal parts can be disposed of as recyclable scrap metal Electrical components circuit boards and carbon fiber Please contact your local distributor for information regarding disposal of such parts You can also address questions direct...

Страница 28: ...ersal Interface Using the display without the Universal Interface device may result in undesired behavior The device connects to the universal interface using Kinova s standard circular connectors The device communicates with the robot by using Kinova s proprietary CAN communication protocol Dimensions The OLED display is the size of a smart phone Figure 3 Display module dimensions All dimensions ...

Страница 29: ...give feedback on the display power and connection status at start up Power Up sequence The indicator will blink Normal working mode The indicator should be on Stand by mode The indicator is off AMBIENT LIGHT SENSOR The ambient light sensor is used to sense environmental lighting conditions and adjusts the screen s brightness accordingly Specifications The OLED display can function within specific co...

Страница 30: ...ng The display comes equipped with industrial Velcro installed on the back of the device Peel off the protective plastic and stick the Velcro to the desired surface For optimal mounting use the Kinova display holder Part number AM 1241 0001 Position The display should be installed in a proper position so that the user can see the screen and feedback lights clearly from his normal position in the w...

Страница 31: ...Follow all installation safety precautions If you are having some difficulties when trying to connect the circular connector to the Universal Interface do not try to apply more force You may be using the wrong port The Universal Interface uses multiple types of similar circular connectors each with different pin configurations Do not over tighten the connector Screw the connector using two fingers an...

Страница 32: ...ection The OLED display Control the robot from the OLED display Precautions Avoid damage to the OLED display by practicing safety guidelines There are three basic precautions to take Before plugging or unplugging any connectors power off the system Before using the display wait for the device to reach room temperature 1 514 277 3777 kinovarobotics com 2021 Kinova inc All rights reserved ...

Страница 33: ...o display for about ten 10 seconds Blue indicator light denotes the display is receiving power 2 Kinova logo Kinova logo is displayed for about 5 seconds Blue indicator light is Off 3 Settings screen Settings information is displayed for up to two 2 seconds Blue indicator light blinks For troubleshooting purposes the support technician may request to have the setting screen information 1 514 277 3...

Страница 34: ...ur 4 sections of the display has a specific purpose The location of each section of the display is highlighted in black Main section The main section displays two types of movements Possible movements movements that are possible to take in the current mode Active movements movements that are currently in progress Status section The status section displays different arm status information 1 514 277 ...

Страница 35: ...tion The status section regroups all icons that are related to the status of the robot s movement Different icons are used to report the status of the movement retract status drinking mode robot speed Figure 7 Status section and its details of the display Retract status icon The retract icon is represented by a green or orange circle It is used to communicate the state of the robot 1 514 277 3777 ...

Страница 36: ...rinking mode icon states Icon Information Greyed out glass The drinking mode is available in the current mode but is not currently active Colored glass The drinking mode is currently active No glass The drinking mode is unavailable and inactive Robot speed icon The speed icon is represented by a number The larger the number the faster the arm moves Table 11 Drinking mode icon states Number Informa...

Страница 37: ...ailable advanced arm functionalities such as pre recorded positions advanced pre recorded positions and automatic orientation Additionally this section is also used to display errors and warnings Figure 9 Function section and its details of the display Functions and their details are represented by icons There are three types of functions available active warnings When a special function or multip...

Страница 38: ...of functions available in the current mode but no RECORD When a specific function is activated the type and index are displayed After five 5 seconds the index goes blank and the function type returns to the original Available Function icon for the current mode Table 13 Active function icons Function type icons Index icon Information Standard Goto Index of the running advanced Goto command Index of t...

Страница 39: ...command is sent One standard Goto and one automatic orientation is present in the current mode 2 The icon changes to a star with the letter S inside it to indicate a Standard Goto command is invoked User presses the button corresponding to the function Standard Goto 2 3 The icon returns to the empty star The number 2 is displayed the function Standard Goto 2 is still executing User is pressing the...

Страница 40: ...ts display Possible movements are dictated by the configuration of the control mapping of the robot The robot has basic movements translation orientation finger Translation movements Translation movements are also known as Cartesian movements Figure 14 Left and right Figure 15 Up and down Figure 16 Forward and backward Figure 17 Example of translation movement Orientation Movements Orientation movem...

Страница 41: ... enters Sleep mode after three 3 minutes of inactivity The display wakes up if any button is pressed or any joystick movement is detected Major errors When major errors with the device occur the display enters Major Error mode The display beeps four 4 times to draw the user s attention and displays the Major Error icon The major error goes back to the Standard Mode when the error is cleared Figure...

Страница 42: ...e robot is interrupted the reconnect icon is displayed in the main section Figure 26 Reconnect icon Do not try to disconnect and reconnect the display module or the universal interface while the robot is powered on Always power off the system before plugging and unplugging any connectors 1 514 277 3777 kinovarobotics com 2021 Kinova inc All rights reserved ...

Страница 43: ...c arm sold separately A swing away mechanism lets you move the lift arm and robotic arm out of the way temporarily to facilitate getting into and out of the wheelchair The robotic arm and lift arm will still function when the lift arm is swung out However they should not be used when the swing away mechanism is engaged A lift mechanism tilt forward makes it easier to reach objects that are low som...

Страница 44: ... Tilted 6 0 down The lift arm is available in both left and right handed configurations depending on which side of the powered wheelchair the device will be installed on LHS lift model RHS lift model 1 514 277 3777 kinovarobotics com 2021 Kinova inc All rights reserved ...

Страница 45: ...ents of the lift arm The lift arm system consists of the lift arm itself a control box and push button controls The lift arm is made up of Wheelchair mounting bracket for mounting the lift arm on the wheelchair Robotic arm mounting post a mounting point for the robotic arm on the lift arm Electromechanical lift actuator a motor to lower lift the lift arm and robotic arm Lift actuator limit switch ...

Страница 46: ...djustment control Lift arm limit switch This section describes the lift arm limit switch The lift arm includes a limit switch This serves to limit the extent to which the lift arm tilts forward This angle limit is adjustable during installation The limit switch should only be adjusted by a Kinova approved professional 1 514 277 3777 kinovarobotics com 2021 Kinova inc All rights reserved ...

Страница 47: ... control Controlling tilt back forward control This section describes the control of the lift arm to tilt the arm forward or backward Control buttons let the user control the tilt forward and tilt backward functionalities There are two separate buttons One button is used to make the lift arm tilt forward and the other button causes the lift arm to tilt back 1 514 277 3777 kinovarobotics com 2021 K...

Страница 48: ...d which the rotation takes place A latch to keep the body of the lift fixed to the side of the wheelchair when the swing out mechanism is not in use The swinging arm pivots around the hinge to swing out the body of the lift from the side of the wheelchair When the swing away mechanism is not in use the mechanism is latched to the frame of the lift arm The swing away mechanism is meant to make it ea...

Страница 49: ...lift arm will make contact with the side of the wheelchair or one of the wheels of the wheelchair Don t try to force the lift arm to swing out farther than this natural limit Note The lift mechanism and the robotic arm can still be activated when the arm is swung out However for safety reasons it is recommended not to do so and is not considered to be normal use 1 514 277 3777 kinovarobotics com 2...

Страница 50: ...instructions of the Lift arm To clean the lift arm it is best to use a lightly moistened cloth without dripping to clean the outer case Internal components such as the motor or the mechanism may only be cleaned by Kinova personnel If you notice any heavy contamination here please contact Kinova directly The lifting arm should not be submerged in water or other liquids Preventive Maintenance of the...

Страница 51: ...he European Union If you wish to discard electrical and electronic equipment EEE please contact your dealer or supplier for further information Countries outside of the European Union This symbol is only valid in the European Union EU If you wish to discard this product please contact your local authorities or dealer and ask for the correct method of disposal Disposal of the Lift arm The lift arm ...

Страница 52: ...e support agent to access the information regarding your product such as software version part revisions and characteristics etc If the product needs to be returned to Kinova ensure the product is packaged in its original case for transportation Report all serious incidents that have occurred with the use of Jaco or any of its accessories to Kinova or any competent authority For technical support ...

Страница 53: ...rande Allée Boisbriand QC J7H 1M7 Canada 1 514 277 3777 info kinova ca Kinova Europe GmbH Assistive Technologies Vorderbreitenthann 150 91555 Feuchtwangen Germany T 0800 5466822 Support support kinovarobotics de assistive kinovarobotics de EN UG 007 r05 202111 ...

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