Usage

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

A: Yes it does! Click here to find the latest driver: https://github.com/Kinovarobotics/ros_kortex

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: How can I add extra accessories to the robotic arm end-effector?

A: There are two expansion lines that form a complete daisy chain throughout the entire arm. The connection to the power source (24V) and the two expansion wires is done at the last actuator (wrist). If your robotic arm has a gripper, you’ll need to drill some holes.

Q: What’s the difference between a 6 DoF and a 7 DoF robotic arm?

A: An additional degree of freedom (DoF) gives you more flexibility in the solution of the inverse kinematics, which means greater possibilities for moving in null space. Please note that the Gen3 is currently only available in 7 DoF.

Q: What are the mechanical rotational limits of the actuators?

A: There are no mechanical limitations. All of our actuators feature slip rings and hollow-shaft motors, which allow for continuous rotation.

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: What are the two camera feeds?

A: The first is RGB and the second is an Intel® RealSense™ D415 depth sensor.

Q: What type of materials are the Kinova robot shells made of?

A: The Gen3 Ultra lightweight robot is made of carbon fibre.

Q: How can I improve my robot’s gravity compensation in torque mode?

A: You can find the instructions in the User Guide in the section on Controlling 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. In the Kinova API, you are able to give a force limit as a percentage of the maximum force when giving a command to the gripper.

Q: Which  mode improves the repeatability of the arm?

A: In Cartesian mode, the arm will take the fastest route to get to a given point. Depending on the initial position, this path will not always be the same. In angular mode, the arm will always take the same path, which increases the chances that it reaches the same given point more often.

Q: The camera return is black, what can I do to see the image?

  1. Straighten the right arm.
  2. Refresh the window by pressing ctrl + F5.
  3. Add the camera’s direct address
  4. Open URL / camera.

Q: I want to connect a custom gripper, is there any particular information I need to know beforehand? 

A:  You need a 20-pin connector, the ethernet bandwidth is 100 Mbps and the power rail is 24V (maximum 0.5 A). GPIOs are also available. 

Q: What does the 4 kg mid-range means in the user manual?

A: The 4 kg mid-range is the maximum load that you can apply at the gripper with the arm in a mid-range position.

 

Simulation

Q: What simulation environment exists for the KINOVA Gen3 Ultra lightweight robot?

A: At this time, there is a CAD and a URDF file available to help you start with simulation.

Q: What data visualization environments are there for the Gen3 robotic arm?

A: Rviz (ROS visualization) is a 3D visualizer for displaying sensor data and state information from ROS. Using rviz, you can visualize the current configuration on a virtual model of the robot. With rviz, you can see the robot model moving via a kinematics simulation (without the effects of gravity).

Communication

Q: I just used low-level API commands to control my robot. Without rebooting, can I send it a Cartesian position command using the high-level API?

A: No, when you send low-level API commands, you need to set the DSP to a specific mode in which it will stop its normal functions and receive the commands before passing them on to the actuators. To exit this mode, you must reboot the robot.

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