Kinova Gen3 lite - Page 3

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