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Viewing 15 posts - 1 through 15 (of 21 total)
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  • in reply to: Friction Constants #3588

    Alex
    Participant

    Hello Pawel!

    Unfortunately we have not characterized the friction of our actuators. Because there are so many factors that can impact this, such as temperature or wear, it was too difficult for us to characterize these parameters… Sorry about that!

    Thanks,

    in reply to: Robust torque control? #2780

    Alex
    Participant

    Dear Philipp,

    The robot often stops executing the torque commands when it reaches a nearby limitation. There are no specific commands that will help to avoid this, but I can still give you the description of both commands (SetTorqueInactivityType and SetSwitchThreshold).

    SetTorqueInactivityType: This function manages the torque inactivity time option. If not torque command is sent after a given time (250ms by default), the controller will take an action: (0): The robot will return in position mode (1): The torque commands will be set to zero. By default, option (1) is set for Kinova classic robots (Jaco2 and Mico) while option (0) is set for generic mode.

    Advanced Configurations (for advanced users only): These functions should only be used by advanced users. The user should be very cautious and be ready to turn off the robot if a problem occurs. The user should quit torque control mode and be in Trajectory-Position control mode before using theses functions.

    WARNING : Do not use these functions if you don’t know what you are doing.

    SetSwitchThreshold: When switching from position to torque control, the controller verifies if the torque command is close to the actual measured torque (as a safety feature to prevent high velocity motions if it is not the case). This function can be used to change the threshold over which the switching to torque mode is rejected. Default parameters can be found in the torque control documentation page under the section “Default parameters”. The parameters will reset to default values every time the robotic arm is rebooted.

    These commands description are from the API offline documentation. If you don’t have this documentation you can download it from the JACO2SDK package from our ”Ressources” page (in the support tab).

    I hope this helps! Please let me know otherwise

    Thanks,

    in reply to: Purpose of JACO_NACK_NORMAL? #2625

    Alex
    Participant

    Hello jbryant_iai,

    The JACO_NACK_NORMAL is indeed an error code. Could you tell us more about the function you are using that is returning this error please?

    Thank you!

    in reply to: Low Level Position Control #2580

    Alex
    Participant

    Hi Pawel,

    It is definitely better to go incrementally (1-2 degrees max), for the smooth functionning of the actuator. If we would send a bigger increment, the command ”effort” would be too big for the actuator and may cause problem.

    I hope this will help to understand better

    If anything don’t hesitate,

    Thanks!

    in reply to: Custom Finger's nails #2579

    Alex
    Participant

    Hello LMathieu!

    Indeed, the nail screws can be difficult to remove because we use loc-tite during assembly.

    You are totally allowed to remove the nails if you want to install a custom part, as long as this custom part doesn’t have an impact on the normal use of the plastic finger.

    To help, I can tell that the right screwdriver bit for the finger parts is a #00 phillips bit, and the thread of the nail insert is M2. We use M2x4mm flat headed screws to install the nails.

    I hope this helps!

    Thanks,

    in reply to: General questions #2574

    Alex
    Participant

    Dear Marco,

    The difference between the two is very simple:
    – MIN OBJECT DIAMETER FOR CYLINDRICAL GRIP : Minimum object diameter to be able to grip it inside our gripper (You can notice that when the fingers are closed, there is a gap that you will not be able to grip something if it is not large enough).
    – MIN OBJECT DIAMETER FOR OBJECT-ON-THE-GROUND PINCH : Minimum object diameter to be able to grip an object by the tip of the fingers. In this case, you should be able to grip most of the smaller objects.

    About the 500Hz bandwidth via USB; Yes it is possible, but for the smallest commands like GetPosition, GetCurrent, GetCommand, SendBasicTrajectory.. If you use more bigger commands, it will be a bit more problematic. I hope this helps to understand.

    About the dynamic model of the arm, yes it is possible. Please send us an email at support@kinovarobotics.com including the Serial number of your Jaco2 arm, and we’ll be able from there to send you the dynamic model.

    Thanks,

    in reply to: General questions #2565

    Alex
    Participant

    Dear Marco,

    Please see our answers below to your questions

    How do i get started to program the robot? Are there some toturials or some other website that are usefull?
    To program the robot, you can refer to the source code from the examples provided in the Development Center (SDK)

    How can i program the robot? The kinova sdk does not allow to write the program.
    The SDK install package comes with Microsoft Visual Studios, this is the software that you can write your own code in C++

    If we want to use for example your position control and then we want to close an other loop with our controller how can we do it? Where can i implemente my control? I can implement it on the controller that is already present in the jaco or i have to run the control on my pc and than with usb close the loop.
    You can run the control with your PC via USB

    Is it possible to see the code of the control already implemented on the controller?
    Unfortunately this is not possible, we don’t provide the source code of our controller

    The manual of the controller said that the control system frequency is 100 Hz (High Level API) and 500 Hz (Low Level API). what does it mean? what does high and low API means?
    The High-Level API is actually the SDK itself. The system refresh rate is 100Hz. The Low-Level API is located in the ”API” folder in the JACO2SDK installation folder. Its refresh rate is 500Hz, so you can send commands faster than with the SDK.

    I hope this can help to get you started. If anything, don’t hesitate to let us know.
    Thanks!

    in reply to: Gripper control does not work #2561

    Alex
    Participant

    Dear chpark

    We are glad you have been able to solve the gripper problem on your end! Thanks for letting us know aswell how you have been able to solve it.

    About the problem with one of the arm, can you please write us an email at support@kinova.ca with the serial number of the problematic arm? We will be able to solve the problem this way and also record it in our system.

    Thank you very much,

    in reply to: Gripper control does not work #2555

    Alex
    Participant

    Dear Chpark,

    Before being able to control the gripper, you will need to initialize the fingers first. Have you been able to do that?

    If you refer to the SDK Offline documentation (in the JACO2SDK installation folder), you should find the information to initialize the fingers with the function InitFingers

    Please keep us posted if that works!

    Thanks,

    in reply to: Add a custom device to the Arm #2549

    Alex
    Participant

    Hello LMathieu!

    We do have Y cables as you mention to be able to read the expansion signals directly from the joystick connector. It will connect the standard joystick to the arm, and leave you a cable with the 6 different signals (+24V, GND, CANH, CANL, EXP0, EXP1).

    I suggest you send us an email at support@kinova.ca including the serial number of your robot so we can make sure of what you need, and also confirm about the manipulation.

    Thank you very much!

    in reply to: Jacosoft and Win10 Anniversary Update #2546

    Alex
    Participant

    Hello Steve, I hope all is well,

    Unfortunately we don’t have a solution yet for the Anniversary update. I have read a bit about it on the web and it seems that with this update Microsoft doesn’t allow any un-signed drivers at all anymore.

    I will verify with our software team if we can find a new work-around for this and keep you informed here! In the meantime, if you find something, please don’t hesitate to share it here!

    Thank you very much,

    in reply to: USB Port dead -wrong hex. #2535

    Alex
    Participant

    Dear Peter,

    I have answered you via email, but I will give a quick answer on the forum aswell so that other people are aware of the steps to solve this problem.

    When this happens, the DSP will not be able to communicate by USB. This is a problem when it comes to re-uploading the main firmware to the robot arm. To work-around this, there is a jumper to make on the joystick connector. Doing this jumper will enable USB communication again, and you will be able to re-upload the main firmware to the arm again.

    Since the main firmware version varies from one model of arm to another, it is very important that when this problem happens, to communicate directly by email to support@kinova.ca with the serial number of the robot arm so we can track which is the latest firmware version for the robot. We can also ensure that the jumper part is made at the right moment and the right way, so it doesn’t create more problems.

    Thanks,

    in reply to: Controlling fingers in Torque Mode Control #2475

    Alex
    Participant

    Dear Vikranth,

    Unfortunately at this moment it is impossible to control the fingers in Torque control mode. You will need to go out of the Torque control mode everytime you want to control the fingers.

    We are already working on enabling the fingers control in Torque mode, but we don’t have a release date yet for it.

    Of course, we will keep everyone informed via our forums when it is available.

    Thanks,
    Alex.

    in reply to: SDK Examples #2461

    Alex
    Participant

    Dear Pedro,

    In cartesian control with our robots, there are 3 major limitations:

    1- Physical limitations by the carbon links
    2- Base cylinder singularity
    3- Wrist alignement singularity

    If any of the positions is sent near these limitations, the arm will stop to move once it is too close or has entered these limitations.

    I hope this helps, and if anything, don’t hesitate to let us know!

    Thank you,

    in reply to: Jaco actuator limitations #2454

    Alex
    Participant

    Hello LMathieu

    The 10000 degrees limit is coded directly inside the actuator firmware. There is no actual way to disabled this limitation from the software or API.

    Your suggestion to use the setJointZero function could be a solution, but it is really not optimal, let me explain: The function setJointZero sets the actuator to a perfect 180 degrees. If, for example, you return the actuator to 180,0050 degrees, and use the function, you will loose 0,005 degrees. This will give an offset to all the positions in your trajectory.

    Because our actuators don’t have such precision, the function will always set a slightly different zero position than before, and this is why it is really not an optimal solution.

    The best solution would really be to avoid the 10000 degrees firmware limitation in your trajectory by limiting the complete rotations, or rotating backward when you can.

    I hope this helps

    Thanks
    Best regards,

Viewing 15 posts - 1 through 15 (of 21 total)

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