Kinova Gen3 - Page 89

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KINOVA

®

Gen3 Ultra lightweight robot User Guide 89

Figure 29: Tablet

Table of Contents

Default Chapter2
- Table of Contents2
Welcome6
About this Document7
Acronyms and Abbreviations8
Warranty11
Safety Directives and Warnings12
Disclaimer14
Risk Assessment15
Normal Use Definition16
Getting Started17
- What's in the Case17
- Manipulating the Robot Joints When the Robot Is Powered off18
- Robot Mounting Options18
  - Mounting the Robot on a Tabletop19
  - Mounting the Robot on a Horizontal Surface Without the Table Clamp20
- Robot Power Adapter and E-Stop23
- Powering on the Robot23
- Power-Up, Booting, and Initialization Sequence24
- Resetting the Robot to Factory Settings25
- Operating the Robot25
  - Supported Gamepad Controllers25
  - Putting the Robot into Admittance Using the Interface Buttons31
- Connecting a Computer to the Robot32
Robot Components38
- Base38
  - Controller Quick Connect System39
  - Controller Connector Panel42
- Actuators43
- Interface Module44
- Vision Module46
Dimensions, Specifications, and Capabilities48
- Schematic and Dimensions - 7 Dof Spherical Wrist48
- Technical Specifications49
- Sensors52
- Effective Workspace55
- Payload Vs. Workspace56
Interface Module Expansion - Tips for Installing Tools57
- End Effector Reference Design58
- Remove End Cap from Interface Module60
- Robotiq Adaptive Grippers Installation (Optional)61
- Interface Module Bolting Pattern63
- Interface Module User Expansion Connector Pinout63
- Spring-Loaded Connector Pinout64
Robot Communications and Network Interfaces66
Accessing Vision Module Color and Depth Streams68
Concepts and Terminology69
- Robot Key Concepts69
- Terminology Reference71
Control Features76
- Singularity Avoidance76
- Protection Zones76
Control Modes Overview78
- Trajectory Control Modes78
- Joystick Control Modes78
- Admittance Modes79
Configurations and Safeties80
- Configurable Parameters80
- Safety Items83
KINOVA KORTEX™ Web App User Guide88
- Introduction88
- Purpose88
- Device Availability of Web App88
- Platform and Browser Support90
- User Login90
- Web App Layout and Navigation92
- Robot Control Panel95
- Main Pages100
- Snapshot Tool121
KINOVA ® KORTEX™ Developer Guide122
- Introduction122
- Devices and Services122
- Available Services123
- Users, Connections and Sessions124
- Services, Methods, and Messages124
- KINOVA ® KORTEX™ API and Google Protocol Buffer124
- Service Client-Server Model125
- Notifications125
- Blocking and Non-Blocking Calls125
- Robot Servoing Modes126
  - High-Level Servoing126
  - Low-Level Servoing127
- Device Routing128
- Error Management128
- KINOVA ® KORTEX™ Github Repository128
- KINOVA ® KORTEX™ ROS and KINOVA ® KORTEX™ ROS Github Overview129
- Working with Camera Streams Using Gstreamer130
  - Windows Command Examples130
  - Linux Command Examples130
Guidance for Advanced Users132
- Dof Singularity Configurations132
- Reference Frames and Transformations133
- Dynamic Parameters of the 7 Dof Robot137
Maintenance142
Troubleshooting144
- Base Controller Leds144
- How to Respond to Safety Warnings and Errors145
- Contacting Kinova Support147

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