Maintenance...................................................................................................................................................................142
Troubleshooting............................................................................................................................................................144
Base controller LEDs.............................................................................................................................................................. 144
How to respond to safety warnings and errors.................................................................................................. 145
Contacting Kinova support..................................................................................................................................................147
Guidance for advanced users.............................................
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................................................................................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
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