Kinova Gen3 lite - Page 4

Actuators safeties...................................................................................................................................83
Gripper safeties....................................................................................................................................... 86
KINOVA® KORTEX™ Web App User Guide.....................................................................................................88
Introduction...........................................................................................................................................................88
Purpose...................................................................................................................................................................88
Device availability of Web App...................................................................................................................... 88
Platform and browser support...................................................................................................................... 90
User login................................................................................................................................................................91
Web App layout and navigation.....................................................................................................................92
Robot control panel............................................................................................................................................95
Pose virtual joystick control................................................................................................................95
Angular virtual joystick control..........................................................................................................97
Virtual joystick keyboard shortcuts................................................................................................. 98
Actions panel.......................................................................................................................................... 100
Snapshot tool......................................................................................................................................... 100
Main pages.......................................................................................................................................................... 100
Configurations page group................................................................................................................ 100
Safeties..................................................................................................................................................... 104
Operations page group........................................................................................................................105
Systems page group..............................................................................................................................115
Users.......................................................................................................................................................... 120
KINOVA® KORTEX™ Developer Guide........................................................................................................... 123
Introduction......................................................................................................................................................... 123
Devices and services........................................................................................................................................123
Available services............................................................................................................................................. 124
Services, methods, and messages.............................................................................................................. 125
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KORTEX™ API and Google Protocol Buer............................................................................. 125
Service client-server model...........................................................................................................................125
Blocking and non-blocking calls..................................................................................................................126
Device routing and transport........................................................................................................................126
Robot servoing modes.....................................................................................................................................127
High-level servoing............................................................................................................................... 127
Low-level servoing............................................................................................................................... 128
Notifications........................................................................................................................................................ 129
Error management............................................................................................................................................129
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KORTEX™ GitHub repository....................................................................................................... 129
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KORTEX™ ROS packages and GitHub repository overview...............................................130
Guidance for advanced users..........................................................................................................................131
Overview................................................................................................................................................................131
Reference frames and transformations.................................................................................................... 131
Standard robot frames.........................................................................................................................131
Homogeneous transforms................................................................................................................. 132
Homogeneous transform matrices................................................................................................. 132
Denavit-Hartenberg (DH) parameters........................................................................................... 134
Singularity configurations.............................................................................................................................. 136
Inertial parameters definition.......................................................................................................................137