Kinova Gen3 User manual

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KINOVA®Gen3
Ultra lightweight
robot
User Guide

Contents
Welcome..............................................................................................................................................................................6
About this document...................................................................................................................................................... 7
Acronyms and abbreviations.......................................................................................................................................8
Warranty.............................................................................................................................................................................11
Safety directives and warnings................................................................................................................................ 12
Disclaimer..........................................................................................................................................................................14
Risk assessment............................................................................................................................................................. 15
Normal use definition................................................................................................................................................... 16
Getting started.................................................................................................................................................................17
What's in the case?.................................................................................................................................................................... 17
Manipulating the robot joints when the robot is powered off...................................................................... 18
Robot mounting options......................................................................................................................................................... 18
Mounting the robot on a tabletop........................................................................................................................19
Mounting the robot on a horizontal surface without the table clamp.........................................20
Robot power adapter and E-stop.....................................................................................................................................23
Powering on the robot............................................................................................................................................................23
Power-up, booting, and initialization sequence.......................................................................................................24
Resetting the robot to factory settings.......................................................................................................................25
Operating the robot.................................................................................................................................................................. 25
Supported gamepad controllers...........................................................................................................................25
Putting the robot into admittance using the interface buttons.........................................................31
Connecting a computer to the robot.............................................................................................................................32
Connecting a computer to the robot via Ethernet (for the first time)..........................................32
KINOVA® KORTEX™ Web App.................................................................................................................................34
Changing the robot wired connection IP address......................................................................................36
Connecting a computer to the robot via Wi-Fi............................................................................................36
Robot components........................................................................................................................................................38
Base......................................................................................................................................................................................................38
Controller quick connect system..........................................................................................................................39
Controller connector panel.......................................................................................................................................42
Actuators.......................................................................................................................................................................................... 43
Interface module.........................................................................................................................................................................44
Vision module............................................................................................................................................................................... 46

Schematic and dimensions - 7 DoF spherical wrist............................................................................................ 48
Technical Specifications..........................................................................................................................................................49
Sensors.............................................................................................................................................................................................. 52
Base readings available.............................................................................................................................................. 53
Actuators readings available...................................................................................................................................54
Interface readings available.....................................................................................................................................54
End effector readings available.............................................................................................................................54
Effective workspace..................................................................................................................................................................55
Payload vs. workspace............................................................................................................................................................56
Interface module expansion - tips for installing tools....................................................................................57
End effector reference design...........................................................................................................................................58
Remove end cap from Interface module...................................................................................................................60
Robotiq Adaptive Grippers installation (optional)..................................................................................................61
Interface module bolting pattern.................................................................................................................................... 63
Interface module user expansion connector pinout........................................................................................... 63
Spring-loaded connector pinout....................................................................................................................................... 64
Robot communications and network interfaces................................................................................................66
Accessing Vision module color and depth streams.........................................................................................68
Concepts and terminology.........................................................................................................................................69
Robot key concepts...................................................................................................................................................................69
Terminology reference.............................................................................................................................................................71
General mathematics and robotics...................................................................................................................... 71
Features, components and functionalities......................................................................................................73
Control and Operation Modes.................................................................................................................................74
Control features............................................................................................................................................................. 76
Singularity avoidance............................................................................................................................................................... 76
Protection zones..........................................................................................................................................................................76
Control modes overview.............................................................................................................................................78
Trajectory control modes......................................................................................................................................................78
Joystick control modes...........................................................................................................................................................78
Admittance modes.....................................................................................................................................................................79
Configurations and safeties...................................................................................................................................... 80
Configurable parameters...................................................................................................................................................... 80
Base configuration..........................................................................................................................................................80
Actuators configuration............................................................................................................................................... 81
Device configuration......................................................................................................................................................82
Vision configuration.......................................................................................................................................................82
Safety items................................................................................................................................................................................... 83
Base (controller) safeties...........................................................................................................................................83
Actuators safeties...........................................................................................................................................................84
Interface module safeties..........................................................................................................................................87
Dimensions, specifications, and capabilities....................................................................................................... 48

Purpose............................................................................................................................................................................................. 88
Device availability of Web App......................................................................................................................................... 88
Platform and browser support.........................................................................................................................................90
User login.........................................................................................................................................................................................90
Web App layout and navigation.......................................................................................................................................92
Robot control panel..................................................................................................................................................................95
Cartesian virtual joystick control..........................................................................................................................95
Angular virtual joystick control............................................................................................................................. 97
Virtual joystick keyboard shortcuts....................................................................................................................98
Admittance modes panel...........................................................................................................................................99
Main pages....................................................................................................................................................................................100
Notifications...................................................................................................................................................................... 100
Camera...................................................................................................................................................................................101
Configurations...................................................................................................................................................................101
Actions.................................................................................................................................................................................. 104
Protection Zones.............................................................................................................................................................110
Controllers........................................................................................................................................................................... 113
Networks...............................................................................................................................................................................114
Users........................................................................................................................................................................................115
System Information.......................................................................................................................................................117
Monitoring............................................................................................................................................................................118
Upgrade................................................................................................................................................................................120
Snapshot tool................................................................................................................................................................................121
KINOVA® KORTEX™ Developer Guide.................................................................................................................. 122
Introduction................................................................................................................................................................................... 122
Devices and services...............................................................................................................................................................122
Available services..................................................................................................................................................................... 123
Users, connections and sessions....................................................................................................................................124
Services, methods, and messages................................................................................................................................ 124
KINOVA® KORTEX™ API and Google Protocol Buffer........................................................................................ 124
Service client-server model...............................................................................................................................................125
Notifications.................................................................................................................................................................................. 125
Blocking and non-blocking calls..................................................................................................................................... 125
Robot servoing modes.......................................................................................................................................................... 126
High-level servoing.......................................................................................................................................................126
Low-level servoing........................................................................................................................................................127
Device routing............................................................................................................................................................................. 128
Error management..................................................................................................................................................................128
KINOVA® KORTEX™ GitHub repository........................................................................................................................128
KINOVA®KORTEX™ ROS and KINOVA® KORTEX™ ROS GitHub overview...............................................129
Working with camera streams using GStreamer............................................................................................... 129
Windows command examples.............................................................................................................................130
Linux command examples......................................................................................................................................130
KINOVA® KORTEX™ Web App User Guide...........................................................................................................88
Introduction.....................................................................................................................................................................................88

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..................................................................................................................................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

KINOVA® Gen3 Ultra lightweight robot User Guide 6
Welcome
Welcome to the KINOVA® Gen3 Ultra lightweight robot.
Thank you for choosing our robot as a tool for your pathbreaking research needs.
This document is meant to provide you with all the information you need to get up and running
with your new robot and get the most out of it.
We are here to help you in your journey. If you need any help or have any questions about how
to get to where you're going with the robot, please feel free to contact our support team:
www.kinovarobotics.com/support

KINOVA® Gen3 Ultra lightweight robot User Guide 7
About this document
User Guide contents and warnings.
Read all instructions before using this product and any third-party options.
Read all warnings on the product and in this guide.
This document contains information regarding product setup and operation. It is intended for
Kinova product end users.
All third-party product names, logos, and brands appearing herein are the property of their
respective owners and are for identification purposes only. Their use in this document is not
meant to imply endorsement by Kinova.
Kinova has made every effort to ensure that this document is accurate, accessible and complete.
As part of our commitment to continuous improvement, we welcome any comments or
suggestions at www.kinovarobotics.com/support.
From time to time, Kinova will make udpates to this document. To download the most
up to date version of this document, visit the Kinova Technical resources page at
www.kinovarobotics.com/knowledge-hub/all-kinova-products.
For general inquiries please contact us at [phone]

KINOVA® Gen3 Ultra lightweight robot User Guide 8
Acronyms and abbreviations
API
Application Programming Interface
CIDR
Classless Inter-Domain Routing
CISPR
Comité International Spécial des Perturbations Radioélectriques
EE
End Effector
EMI
Electromagnetic Interference
FOV
Field of View
fps
frames per second
GPIO
General-Purpose Input/Output
HDMI
High-Definition Multimedia Interface
IC
Integrated Circuit
IEEE
Institute of Electrical and Electronics Engineers
I2C
Inter-Integrated Circuit (bus)
I/O
Input / Output
IP
Ingress Protection or Internet Protocol
IT
Information Technology

KINOVA® Gen3 Ultra lightweight robot User Guide 9
ISO
International Organization for Standardization
LED
Light-Emitting Diode
n/c
no connection
NVRAM
Non-Volatile Random-Access Memory
PC
Personal Computer
Rx
Receiver
ROS
Robot Operating System
RPC
Remote Procedure Call
RPM
Revolutions Per Minute
RS
Recommended Standard
SSID
Service Set IDentifier
Tx
Transmitter
UART
Universal Asynchronous Receiver-Transmitter
UDP
User Datagram Protocol
USB
Universal Serial Bus
UL
Underwriters Laboratory

KINOVA® Gen3 Ultra lightweight robot User Guide 10
UV
Ultraviolet light
VLAN
Virtual Local Area Network
WEEE
Waste of Electrical and Electronic Equipment

KINOVA® Gen3 Ultra lightweight robot User Guide 11
Warranty
This section describes the Kinova warranty terms.
Subject to the terms of this clause, Kinova warrants to End User that the Products are free of
defects in materials and workmanship that materially affect their performance for a period of
two (2) years from the date Kinova ships the Products to the End User ("Delivery Date").
Kinova agrees to repair or replace (at Kinova's option) all Products which fail to conform to the
relevant warranty provided that:
1. notification of the defect is received by Kinova within the warranty period specified above;
2. allegedly defective Products are returned to Kinova, (at the End User’s expense, with
Kinova's prior authorization) within thirty (30) days of the defect becoming apparent;
3. the Products have not been altered, modified or subject to misuse, incorrect installation,
maintenance, neglect, accident or damage caused by excessive current or used with
incompatible parts;
4. the End User is not in default under any of its obligations under this Agreement;
5. replacement Products must have the benefit of the applicable warranty for the remainder of
the applicable warranty period.
If Kinova diligently repairs or replaces the Products in accordance with this section, it will be
deemed to have no further liability for a breach of the relevant warranty.
Allegedly defective Products returned to Kinova in accordance with this contract will, if found
by Kinova on examination not to be defective, be returned to the End User. Kinova may charge a
fee for examination and testing.
The warranty cannot be assigned or transferred and is to the sole benefit of the End User.
Where the Products have been manufactured and supplied to Kinova by a third party, any
warranty granted to Kinova in respect of the Products may be passed on to the End User.
Kinova is entitled in its absolute discretion to refund the price of the defective Products in the
event that such price has already been paid.

KINOVA® Gen3 Ultra lightweight robot User Guide 12
Safety directives and warnings
Directives, warnings and safety considerations for the KINOVA® Gen3 Ultra lightweight
robot.
IMPORTANT
Before operating the robot for the first time, ensure that you have read, completely understood
and complied with all of the following directives, warnings and cautionary notes. Failure to do so
may result in serious injury or death to the user, damage to the robot, or a reduction in its useful
life.
Table 1: Safety
There is no mechanical brake on the robot. If the power supply is cut or an unrecoverable error
occurs, be aware that the robot will fall. However, mechanisms are in place within the actuators will
slow the descent in the absence of external power.
- risk assessment, before integration of the robot into a given
application.
For your personal
safety, and that of others,
it is strongly
recommended that the
following be carried out:
- hazard analysis, before integration into an environment which includes
atomized flammable dust / particles or explosive / flammable gases, etc.
- use the robot near a flame or source of heat.
- exceed the maximum specified payload.
For your personal
safety, and that of others,
never:- attempt to stop the robot or prevent its movement by holding it (except
in admittance mode).
- the robot does not encounter any obstacles (persons or objects).
Although inherently safe in its default configuration, disabling the robot
safeties requires that the user be responsible for ensuring a secure
working space.
- the end effector never collides with a hard surface.
- the grasping of objects by gripper fingers is stable, to prevent the risk of
dropped or thrown objects (if using a gripper).
- the wrist is supported before turning the power off (otherwise it may fall
and cause damage).
- eye protection is worn when manipulating fragile objects with the robot.
- the working area is safe when containers of hot (or extremely cold)
liquids are to be manipulated with the robot.
For your personal
safety, and that of others,
always ensure that:
- the robot has its base securely fixed to the work surface when in
operation.
- the robot working area is safe if sharp objects are to handled by
the robot.
- before using the robot, it is confirmed that there are no warnings.
- the robot is protected adequately before being used near any
messy process (e.g. welding or painting)
- install the robot base within 20 cm of your body (base
contains a Wi-Fi transmitter)
- use the robot to submerge objects in water.

KINOVA® Gen3 Ultra lightweight robot User Guide 13
Table 2: General
Do not connect the USB ports on the base to one another.
It is recommended that surge protection be used to protect the robot against external surges on
the main AC line which might be caused by lightning or other abnormal conditions.
The base must be mounted as specified in the installation section, with particular attention to the
bolt pattern, strength requirements and any table or tripod-specific mounting.
The end effector must be mounted as specified in the installation section (including bolt pattern,
power requirements, etc.).
Table 3: Maintenance
Immediately following exposure to saline air conditions, contact Kinova support to schedule
maintenance by authorized Kinova technician.
The controller mating interface must be kept free of dust and moisture to protect the electrical
contacts. Wipe down the surface with a soft dry cloth to keep the surface of the interface clean.
The robot should not be used without the provided emergency stop connected.
Do not operate the robot when the relative humidity exceeds the maximum specified limit. In such a
case, put down any object in the gripper, bring the robot to a resting position and wait until the humidity
decreases to an allowable value.
The robot is not certified for use in applications in sterile environments (e.g. food production,
pharmaceuticals, medical, surgical).
Do not use the robot in heavy rain. If this happens, contact Kinova support to schedule
maintenance by an authorized Kinova technician.
Do not power on the product if any external damage to the Vision module is apparent.
Do not attempt to open the Vision module.
The Vision module depth sensor includes a Class 1 infrared laser. To avoid eyesight injury from
wide angle infrared laser light, do not view the front-facing surface of the Vision module through
magnifying optical elements.

KINOVA® Gen3 Ultra lightweight robot User Guide 14
Disclaimer
KINOVA® and the Kinova logo are registered trademarks of Kinova inc., herein referred to as
Kinova.
KORTEX™ is a trademark of Kinova inc.
All other brand and product names are trademarks or registered trademarks of their respective
owners.
The mention of a product name does not necessarily imply an endorsement by Kinova. This
manual is furnished under a lease agreement and may only be copied or used in accordance with
the terms of such lease agreement. Except as permitted by the lease agreement, no part of this
publication may be reproduced, stored in any retrieval system, or transmitted, modified in any
form or by any means, electronic, mechanical, recording, or otherwise, without prior written
consent of Kinova.
The content of this manual is furnished for informational use only and is subject to change
without notice. It should not be construed as a commitment by Kinova. Kinova assumes no
responsibility or liability for any errors or inaccuracies that may appear in this document.
Changes are periodically made to the information herein and will be incorporated into new
editions of this publication. Kinova may make improvements and/or changes to the products
and/or software programs described in this publication at any time.
Any questions or comments concerning this document, the information it contains or the
product it describes may be addressed through the support page on the Kinova website:
www.kinovarobotics.com/support
Kinova would like to thank you for your contribution, while retaining the right to use or
distribute whatever information you supply in any way it believes appropriate (without
incurring any obligations to you).

KINOVA® Gen3 Ultra lightweight robot User Guide 15
Risk assessment
Before proceeding it is imperative that a risk assessment be performed (note that this is
required by law in many countries). As it is a machine, the safety of the robot depends on how
well it is integrated with its environment and with other machines.
The recommended international standards for conducting a risk assessment are as follows:
• ISO 12100
• ISO 10218-2
The risk assessment should take into consideration all activities carried out in the context of the
robot application, including (but not limited to):
• teaching the robot (during set-up)
• development of the robot installation
• robot troubleshooting
• robot maintenance
• everyday robot operation
The risk assessment must be completed before integration of the robot in an application and
should address configuration settings as well as the need for any additional emergency stop
buttons.

KINOVA® Gen3 Ultra lightweight robot User Guide 16
Normal use definition
This section describes the normal use of the robot.
The definition of normal use includes lifting, pushing, pulling, or manipulating (without a gripper
or other end effector attached) a maximum load of:
• mid-range, continuous: 4 kg
• full-reach, temporary: 4.5 kg
• full-reach, continuous 1.1 kg
The robot is designed to hold, move, and manipulate objects in the user environment. However,
for some loads in certain positions (near maximum load and reach), holding an object for an
extended period of time may result in heating. To protect the robot hardware from excessive
heat, safety thresholds shut down the robot if the temperature rises above a certain threshold.
Before this is reached, an API notifcation will be rendered as a user alert on the KINOVA®
KORTEX™ Web App.
The robot includes a number of temperature-related safeties:
• base - CPU core and ambient temperatures
• actuators - CPU core and motor temperatures
• interface module - CPU core and gripper motor temperatures
If you receive any temperature warnings, put down any object as soon as is practical and place
the robot into a stable rest position to allow it to cool down.
During normal operation, the robot joints are subject to heating. The joints are normally
covered in plastic rings to protect the user from the metal surfaces which may become hot.

KINOVA® Gen3 Ultra lightweight robot User Guide 17
Getting started
This section describes how to get started with the arm.
The pages that follow lead you through getting started with the robot. This includes:
• unboxing
• physically mounting the robot securely
• provisioning electrical power
• controlling the robot using an Xbox gamepad
• moving the robot in admittance using physical buttons
• connecting a computer to the robot
•connecting to the KINOVA® KORTEX™ Web App
What's in the case?
This section describes the KINOVA® Gen3 Ultra lightweight robot shipping case contents.
Figure 1: shipping case contents

KINOVA® Gen3 Ultra lightweight robot User Guide 18
• Robot
In the second layer:
• Power adapter and cable with integrated emergency stop (E-stop) button
• Mounting plate and robot controller
The bottom area contains:
• Ethernet (RJ-45) cable
• Power cable
• Bag with useful tools and fasteners
º hex keys: 3, 4 and 5 mm
º M5 x 40 mm screws (qty. 4)
An Xbox gamepad and cable are shipped with the robot, but packaged separately.
There is also space for storage of papers and other items.
Note: The shipping case is also useful for transportation and storage of the robot. Make sure to
save it and the packing layers within for future use.
Manipulating the robot joints when the robot is powered off
This describes how to manipulate the robot joints when the robot is powered off.
When the robot is powered on and not in admittance mode, the actuators will hold their
position and prevent the joints from moving in response to external forces and torques. When
the power is on, the arm will not move except when commanded. The arm joints are stiff and you
will not be able to rotate the joints with your hands.
When the robot is powered off, as it is when you first receive the robot, the joints can be moved
by hand slowly.
Note: If you move the joints too quickly, you will hear a mechanical noise, and feel resistance.
This is a a passive mechanism within the large actuators designed to slow the descent of the
robot when the power is cut. This is only triggered if the joints turn too quickly, above a certain
threshold with the power off. If you turn slowly, this will not be triggered, and you will be able to
move the joints by hand freely.
This moveability of the joints when the robot is unpowered is useful when taking the robot out
of the box and setting it up to get started. This lets you arrange the joints of the robot into a
stable, balanced position prior to mounting and powering on the robot.
The shipping case contains the following contents.
At the top of the interior of the box, you will find the Quick Start Guide. The Quick Start Guide is
a large visual guide printed on sturdy cardboard.
The Quick Start Guide provides a handy reference for first steps, and should have you up and
running within 30 minutes. Make sure to keep the Quick Start Guide as a reference for people in
your team or organization getting newly acquainted with your robot. The Quick Start Guide is
also available on the Kinova website Knowledge Hub:
www.kinovarobotics.com/knowledge-hub/all-kinova-products
The contents of the box are arranged in three layers from top to bottom. These packing layers
can be removed from the box to unpack the contents.
In the top layer:

KINOVA® Gen3 Ultra lightweight robot User Guide 19
The first step to getting started with the arm after unboxing is to physically mount the arm in a
stable manner so that the arm can be connected and used.
The most basic mounting option uses the mounting plate clamped to a tabletop, but it is possible
to mount the arm in different ways, depending on the needs of your particular application.
Mounting the robot on a tabletop
This section describes the procedure for mounting the robot oriented vertically on the
edge of a tabletop using the clamp.
Before you begin
The robot should have the joints of the robot unfolded so that it is in a stable, balanced
position ready for mounting.
About this task
The robot is mounted to a tabletop using the base mounting plate and a table clamp.
Note: The table must be large and sturdy to support a tabletop edge mounting. If the table is
too small or too flimsy, the weight of the robot at the table edge combined with the movement
vibrations may render it unstable.
Procedure
1. Place the base controller and mounting plate on the tabletop, next to the edge.
Note: You can place the controller in one of two orientations. Either the connector panel
facing out toward the edge of the table, or the front side of the base controller facing out.
2. Turn the tightening knob on the table clamp to open up the clamp and then slide the clamp
into the slot between the mounting plate and the bottom of the base controller.
3. Turn the tightening knob by hand until the mounting plant is firmly clamped to the table top.
Note: Do not overtorque.
4. Make sure that the clamp at the bottom of the robot is opened. While holding the robot, you
Robot mounting options
This section describes the physical mounting options for the robot.

KINOVA® Gen3 Ultra lightweight robot User Guide 20
5. Once the robot is fully lowered onto the base controller, close the clamp to secure the robot
in place on the base controller..
Results
The robot is now mounted on the tabletop.
What to do next
You can now proceed to connect the robot to the power supply and E-stop.
Mounting the robot on a horizontal surface without the table clamp
This section describes how to mount the robot on a horizontal surface without the table
clamp..
About this task
Here, we describe mounting the robot in a vertical orientation on a flat, horizontal surface,
affixing the mounting plate or controller base to the surface using screws and sunk holes
in the surface.
Procedure
1. Choose whether to mount the robot base controller directly onto the surface, or whether to
use the mounting plate.
2. Using either the mounting plate bolting pattern or the controller bolting pattern or as a
guide, drill holes into the surface. If the controller is to be mounted directly to the surface,
the holes will have to be drilled all the way through the mounting surface.