Kinova Gen3 - Actuators Readings Available; Interface Readings Available; End Effector Readings Available

KINOVA
®
Gen3 Ultra lightweight robot User Guide 54
Actuators readings available
Table 20: Actuators readings available via API
Field name Description
position angular position of the actuator in °
velocity angular velocity of the actuator in ° / sec
torque torque in N·m
current_motor motor current in A
voltage main board voltage in V
temperature_motor actuator motor temperature in °C (highest of three 3
phases)
temperature_core microcontroller temperature in °C
Interface readings available
Table 21: Interface readings available via API
Field name Description
imu_acceleration_X IMU measured acceleration (X-Axis) of
interconnect 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) ω
x
of
interconnect in ° / s
imu_angular_velocity_Y IMU measured angular velocity (Y-Axis) ω
y
of
interconnect in ° / s
imu_angular_velocity_Z IMU measured angular velocity (Z-Axis) ω
z
of
interconnect in ° / s
voltage main board voltage in V
temperature_core microcontroller temperature in °C
End effector readings available
Table 22: End effector readings available via API
Field name Description
tool_pose_x Measured Cartesian position (X-
axis) of the end effector in m
tool_pose_y Measured Cartesian position (Y-
axis) of the end effector in m
tool_pose_z Measured Cartesian position (Z-
axis) of the end effector in m