General

Q: Where can I find the product specifications?

A: All documentation including the specifications for the Kinova Gen3 robot can be found here for your convenience.

Q: What is the ingress protection rating of the robot?

A: IP33.

Q: What are the available configurations of Gen3 robots?

A: Gen3 has three options that can be mixed and matched to your preferences. You can have either 6 or 7 degrees of freedom, a fixed or quick-connect base controller, and a wrist with or without an integrated camera module.

Q: What is the difference between a fixed base and a quick-connect?

A: Fixed-based means that the controller is un-detachable from the robot, while the quick-connect has a mechanism allowing you to attach and detach it from the arm in mere seconds Note that the additional moving parts impact the repeatability of the robot negatively. 

Q: What is the difference between repeatability and accuracy?

A: Repeatability measurements correspond to a radius within which, for a given input, the robot will return every time. Accuracy asserts how close to the expected target measurement is on average. In most cases, repeatability is the only concern for robots because accuracy errors can be fixed by setting offsets in the software. See this article from our partners for more detail.

Q: What is the repeatability of Gen3?

A: The 2σ range of repeatability measurement for the 6 and 7 DoF configurations are respectively 0.1 mm and 1.0 mm. These statistics are only valid for calibrated robots, which means only fixed base configurations.

Q: Can I power my Kinova robot with a battery?

A: Yes. Doing so requires a 24V battery that meets the product requirements. Please refer to the user guide for the proper way to connect your Kinova robot to a battery.
 

Q: How much power does the robot consume?

A: 36W.

Q: What are the specs of the vision module?

A: The optional wrist-mounted camera on Gen3 is an Intel Realsence D410 camera, including a color sensor and a depth sensor enabled by both stereo vision and active IR sensing. For more detail, you can visit the manufacturer's webpage or refer to our user guide.

Q: What is Kortex?

A: Kortex is the common software platform behind all of Kinova's Gen3 products. It unifies the inner workings of the various robots and their related external tools, like the API. For more detail, you can have a look at this video.

Safety

Q: Is the Gen3 safe?

A: The Gen3's form factor, light weight and default velocity limits make it very safe to work with in any environment. Additionally, all robot limits are configurable and can be customized for each control mode.
 

Q: What happens if the power is cut off while the robot is operating?

A: The robot uses regenerative brakes. In other words, it uses the power generated by the motors while they are back-driven by gravity to actively slow down the fall of the robot.

Q: Do Gen3 actuators have mechanical brakes?

A: No.

Q: What happens if the communication is cut off while the robot is operating?

A: The API has a built-in watchdog and will timeout, stopping the robot and putting it in a fault state requiring intervention before resuming any operation. The timeout value is adjustable to your requirements.

End effectors

Please note the term 'end effector' or 'end-effector' refers to all sorts of devices that goes at the end of the robotic arm in order to do a task. The most common types of end effectors are the following: grippers (mechanical or vacuum), force-torque sensors, material removal tools and welding torches. Source: https://blog.robotiq.com/bid/53266/Robot-End-Effector-Definition-and-Examples

Some other types of custom tools may include screwing tools, polishing tools, laser scanners, etc.

Q: What off-the-shelf grippers can I use on Gen3?

A: We officially support the Robotiq grippers 2F-85 and 2F-140.

Q: How can I integrate a custom end-effector?

A: We provide a reference design (mechanical and electrical) to connect to the various ports available on the Gen3 interconnect module. It is available here. You may also wish to read our documentation about ethernet communication to the end-effector - available here.

Q: Can I use the Robotiq FT-300 sensor?

A: Mounting the FT-300 on the Gen3 requires a mechanical flange sold separately by Robotiq which matches the bolt pattern on the interconnect. However, the FT-300 covers all connectors on the robot's interconnect module, so all communication and wiring, including both the cables of the FT-300 and gripper, will need to be handled outside of the robot.

Q: What is the force limit of the Robotiq gripper, and can I set a force limit when I give it a command?

A: The force limit of the 2f-85 Robotiq gripper mounted on the Gen3 is 235 N. You can set a force limit using the Kortex API.

Usage

Q: How should I get started?

A: First, we recommend you read the user guide. After, you can mount your robot on a table, connect it to a PC via the ethernet cable and enter the address 192.168.1.10. Connect to the webApp using the default credentials admin/admin. Snoop around, try to move the robot using the virtual joysticks and create simple sequences to get a general feel of the robot. Once you are ready to begin to design your robotic application, visit the Kortex Github repository.

Q: What are the options to control the robot?

A: There are a lot of options.

  1. Manual control via a XBox controller connected via USB.
  2. Joystick control, simple actions and sequences via the webApp.
  3. Using the Python API, for which you can find documentation and examples here.
  4. Using the C++ API, for which you can find documentation and examples here.
  5. Using ROS, for which you can find documentation and examples here.
  6. Using Matlab or Simulink, for which you can find documentation and examples here.

Q: Does the Gen3 robot support ROS (Robot Operating System)?

A: Yes. We provide services that act as translators between ROS nodes and the Kortex API, as well as the tools to simulate the robot using MoveIT and Gazebo. See the link in the previous question for detail. We also provide tools to interact with the vision module over ROS. They are available here.

Q: What simulation environment are available for the Gen3?

A: We officially support simulation on Gazebo via ROS (see previous questions for links) and Matlab (for which you can find instructions on Mathworks website). If you wish to implement Gen3 in your own simulation environment, we provide the CAD and URDF files. 

Q: Are there tutorials on how to use the Kortex API?

A: Yes, you can find them on our Youtube channel here.

Q: At what rate can I communicate with the robot?

A: Kortex robots have two separate channels for communication: low-level and high-level (called Single_level in the API). Low-level commands are processed at a rate of 1 kHz while high level commands are processed between 25 and 40 Hz depending on how demanding are the calculations associated with the command you sent.

Q: What functionalities are available in low-level servoing?

A: In order for the process to stay at a rate of 1 kHz, only commands requiring little computation are enabled in low-level servoing. This includes obtaining the feedback from all sensors and the current state of the robot, and and sending joint commands directly to the actuators. Joint command can be of any type (position, velocity, torque or even current). Note that the kinematics as well as many limit validations are skipped in low-level servoing so only advanced users should use it.

Q: Does Gen3 support force/torque control?

A: Torque control is available in low-level servoing. At the time of this writing (release 2.2.0), end-effector force control is available through the high level API as a beta version.

Other

Q: What is the default IP address of the robot?

A: When connected through ethernet, the address is 192.168.1.10. The wireless address is given by your router.


Q: The camera feed on the webApp is black.

A: This generally happens when another application is connected to the feed. Try to close your other applications that may be interacting with the camera. If the problem persists, try clearing your browser's cache (ctrl + F5).

Q: The gripper is not responding.

A: In the webApp, go to Robot Configuration/Arm/Product and make sure that your end-effector type is set properly.

Q: The robot is moving by itself when Admittance mode is activated.

A: You need to reset the zero value of the actuator torque sensors. In the webApp, place the robot with all the actuators at the zero position (straight up), then go to Robot configuration/Arm/Base then click Set All Actuators Torque Offsets Zero.

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